ZwX1616
5 years ago
committed by
GitHub
parent
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commit
a004735b19
19 changed files with 605 additions and 86 deletions
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#include "camera_webcam.h" |
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#include <unistd.h> |
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#include <string.h> |
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#include <signal.h> |
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#include <pthread.h> |
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#include "common/util.h" |
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#include "common/timing.h" |
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#include "common/swaglog.h" |
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#include "buffering.h" |
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#include <opencv2/opencv.hpp> |
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#include <opencv2/highgui.hpp> |
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#include <opencv2/core.hpp> |
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#include <opencv2/videoio.hpp> |
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extern volatile sig_atomic_t do_exit; |
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#define FRAME_WIDTH 1164 |
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#define FRAME_HEIGHT 874 |
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#define FRAME_WIDTH_FRONT 1152 |
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#define FRAME_HEIGHT_FRONT 864 |
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namespace { |
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void camera_open(CameraState *s, VisionBuf *camera_bufs, bool rear) { |
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assert(camera_bufs); |
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s->camera_bufs = camera_bufs; |
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} |
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void camera_close(CameraState *s) { |
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tbuffer_stop(&s->camera_tb); |
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} |
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void camera_release_buffer(void *cookie, int buf_idx) { |
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CameraState *s = static_cast<CameraState *>(cookie); |
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} |
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void camera_init(CameraState *s, int camera_id, unsigned int fps) { |
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assert(camera_id < ARRAYSIZE(cameras_supported)); |
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s->ci = cameras_supported[camera_id]; |
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assert(s->ci.frame_width != 0); |
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s->frame_size = s->ci.frame_height * s->ci.frame_stride; |
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s->fps = fps; |
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tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s); |
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} |
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static void* rear_thread(void *arg) { |
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int err; |
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set_thread_name("webcam_rear_thread"); |
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CameraState* s = (CameraState*)arg; |
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cv::VideoCapture cap_rear(1); // road
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cap_rear.set(cv::CAP_PROP_FRAME_WIDTH, 1280); |
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cap_rear.set(cv::CAP_PROP_FRAME_HEIGHT, 720); |
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cap_rear.set(cv::CAP_PROP_FPS, s->fps); |
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cap_rear.set(cv::CAP_PROP_AUTOFOCUS, 0); // off
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cap_rear.set(cv::CAP_PROP_FOCUS, 0); // 0 - 255?
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// cv::Rect roi_rear(160, 0, 960, 720);
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cv::Size size; |
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size.height = s->ci.frame_height; |
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size.width = s->ci.frame_width; |
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// transforms calculation see tools/webcam/warp_vis.py
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float ts[9] = {1.00220264, 0.0, -59.40969163,
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0.0, 1.00220264, 76.20704846,
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0.0, 0.0, 1.0}; |
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const cv::Mat transform = cv::Mat(3, 3, CV_32F, ts); |
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if (!cap_rear.isOpened()) { |
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err = 1; |
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} |
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uint32_t frame_id = 0; |
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TBuffer* tb = &s->camera_tb; |
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while (!do_exit) { |
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cv::Mat frame_mat; |
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cv::Mat transformed_mat; |
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cap_rear >> frame_mat; |
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// int rows = frame_mat.rows;
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// int cols = frame_mat.cols;
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// printf("Raw Rear, R=%d, C=%d\n", rows, cols);
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cv::warpPerspective(frame_mat, transformed_mat, transform, size, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0); |
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int transformed_size = transformed_mat.total() * transformed_mat.elemSize(); |
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const int buf_idx = tbuffer_select(tb); |
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s->camera_bufs_metadata[buf_idx] = { |
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.frame_id = frame_id, |
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}; |
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cl_command_queue q = s->camera_bufs[buf_idx].copy_q; |
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cl_mem yuv_cl = s->camera_bufs[buf_idx].buf_cl; |
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cl_event map_event; |
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void *yuv_buf = (void *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE, |
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CL_MAP_WRITE, 0, transformed_size, |
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0, NULL, &map_event, &err); |
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assert(err == 0); |
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clWaitForEvents(1, &map_event); |
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clReleaseEvent(map_event); |
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memcpy(yuv_buf, transformed_mat.data, transformed_size); |
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clEnqueueUnmapMemObject(q, yuv_cl, yuv_buf, 0, NULL, &map_event); |
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clWaitForEvents(1, &map_event); |
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clReleaseEvent(map_event); |
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tbuffer_dispatch(tb, buf_idx); |
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frame_id += 1; |
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frame_mat.release(); |
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transformed_mat.release(); |
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} |
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cap_rear.release(); |
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return NULL; |
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} |
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void front_thread(CameraState *s) { |
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int err; |
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cv::VideoCapture cap_front(2); // driver
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cap_front.set(cv::CAP_PROP_FRAME_WIDTH, 1280); |
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cap_front.set(cv::CAP_PROP_FRAME_HEIGHT, 720); |
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cap_front.set(cv::CAP_PROP_FPS, s->fps); |
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// cv::Rect roi_front(320, 0, 960, 720);
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cv::Size size; |
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size.height = s->ci.frame_height; |
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size.width = s->ci.frame_width; |
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// transforms calculation see tools/webcam/warp_vis.py
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float ts[9] = {0.94713656, 0.0, -30.16740088,
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0.0, 0.94713656, 91.030837,
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0.0, 0.0, 1.0}; |
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const cv::Mat transform = cv::Mat(3, 3, CV_32F, ts); |
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if (!cap_front.isOpened()) { |
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err = 1; |
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} |
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uint32_t frame_id = 0; |
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TBuffer* tb = &s->camera_tb; |
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while (!do_exit) { |
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cv::Mat frame_mat; |
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cv::Mat transformed_mat; |
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cap_front >> frame_mat; |
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// int rows = frame_mat.rows;
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// int cols = frame_mat.cols;
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// printf("Raw Front, R=%d, C=%d\n", rows, cols);
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cv::warpPerspective(frame_mat, transformed_mat, transform, size, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0); |
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int transformed_size = transformed_mat.total() * transformed_mat.elemSize(); |
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const int buf_idx = tbuffer_select(tb); |
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s->camera_bufs_metadata[buf_idx] = { |
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.frame_id = frame_id, |
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}; |
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cl_command_queue q = s->camera_bufs[buf_idx].copy_q; |
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cl_mem yuv_cl = s->camera_bufs[buf_idx].buf_cl; |
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cl_event map_event; |
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void *yuv_buf = (void *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE, |
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CL_MAP_WRITE, 0, transformed_size, |
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0, NULL, &map_event, &err); |
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assert(err == 0); |
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clWaitForEvents(1, &map_event); |
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clReleaseEvent(map_event); |
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memcpy(yuv_buf, transformed_mat.data, transformed_size); |
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clEnqueueUnmapMemObject(q, yuv_cl, yuv_buf, 0, NULL, &map_event); |
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clWaitForEvents(1, &map_event); |
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clReleaseEvent(map_event); |
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tbuffer_dispatch(tb, buf_idx); |
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frame_id += 1; |
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frame_mat.release(); |
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transformed_mat.release(); |
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} |
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cap_front.release(); |
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return; |
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} |
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} // namespace
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CameraInfo cameras_supported[CAMERA_ID_MAX] = { |
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// road facing
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[CAMERA_ID_LGC920] = { |
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.frame_width = FRAME_WIDTH, |
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.frame_height = FRAME_HEIGHT, |
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.frame_stride = FRAME_WIDTH*3, |
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.bayer = false, |
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.bayer_flip = false, |
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}, |
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// driver facing
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[CAMERA_ID_LGC615] = { |
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.frame_width = FRAME_WIDTH_FRONT, |
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.frame_height = FRAME_HEIGHT_FRONT, |
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.frame_stride = FRAME_WIDTH_FRONT*3, |
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.bayer = false, |
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.bayer_flip = false, |
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}, |
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}; |
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void cameras_init(DualCameraState *s) { |
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memset(s, 0, sizeof(*s)); |
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camera_init(&s->rear, CAMERA_ID_LGC920, 20); |
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s->rear.transform = (mat3){{ |
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1.0, 0.0, 0.0, |
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0.0, 1.0, 0.0, |
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0.0, 0.0, 1.0, |
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}}; |
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camera_init(&s->front, CAMERA_ID_LGC615, 10); |
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s->front.transform = (mat3){{ |
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1.0, 0.0, 0.0, |
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0.0, 1.0, 0.0, |
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0.0, 0.0, 1.0, |
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}}; |
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} |
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void camera_autoexposure(CameraState *s, float grey_frac) {} |
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void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, |
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VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, |
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VisionBuf *camera_bufs_front) { |
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assert(camera_bufs_rear); |
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assert(camera_bufs_front); |
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int err; |
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// LOG("*** open front ***");
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camera_open(&s->front, camera_bufs_front, false); |
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// LOG("*** open rear ***");
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camera_open(&s->rear, camera_bufs_rear, true); |
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} |
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void cameras_close(DualCameraState *s) { |
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camera_close(&s->rear); |
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camera_close(&s->front); |
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} |
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void cameras_run(DualCameraState *s) { |
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set_thread_name("webcam_thread"); |
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int err; |
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pthread_t rear_thread_handle; |
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err = pthread_create(&rear_thread_handle, NULL, |
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rear_thread, &s->rear); |
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assert(err == 0); |
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front_thread(&s->front); |
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err = pthread_join(rear_thread_handle, NULL); |
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assert(err == 0); |
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cameras_close(s); |
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} |
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@ -0,0 +1,58 @@ |
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#ifndef CAMERA_WEBCAM |
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#define CAMERA_WEBCAM |
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#include <stdbool.h> |
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#ifdef __APPLE__ |
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#include <OpenCL/cl.h> |
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#else |
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#include <CL/cl.h> |
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#endif |
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#include "common/mat.h" |
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#include "buffering.h" |
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#include "common/visionbuf.h" |
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#include "camera_common.h" |
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#define FRAME_BUF_COUNT 16 |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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typedef struct CameraState { |
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int camera_id; |
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CameraInfo ci; |
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int frame_size; |
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VisionBuf *camera_bufs; |
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FrameMetadata camera_bufs_metadata[FRAME_BUF_COUNT]; |
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TBuffer camera_tb; |
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int fps; |
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float digital_gain; |
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float cur_gain_frac; |
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mat3 transform; |
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} CameraState; |
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typedef struct DualCameraState { |
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int ispif_fd; |
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CameraState rear; |
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CameraState front; |
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} DualCameraState; |
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void cameras_init(DualCameraState *s); |
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void cameras_open(DualCameraState *s, VisionBuf *camera_bufs_rear, VisionBuf *camera_bufs_focus, VisionBuf *camera_bufs_stats, VisionBuf *camera_bufs_front); |
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void cameras_run(DualCameraState *s); |
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void cameras_close(DualCameraState *s); |
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void camera_autoexposure(CameraState *s, float grey_frac); |
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#ifdef __cplusplus |
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} // extern "C"
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#endif |
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#endif |
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@ -0,0 +1,43 @@ |
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Run openpilot with webcam on PC/laptop |
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===================== |
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What's needed: |
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- Ubuntu 16.04 |
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- Python 3.7.3 |
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- GPU (recommended) |
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- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615) |
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- [Car harness](https://comma.ai/shop/products/comma-car-harness) w/ black panda (or the outdated grey panda/giraffe combo) to connect to your car |
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- [Panda paw](https://comma.ai/shop/products/panda-paw) (or USB-A to USB-A cable) to connect panda to your computer |
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- Tape, Charger, ... |
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That's it! |
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## Clone openpilot and install the requirements |
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``` |
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cd ~ |
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git clone https://github.com/commaai/openpilot.git |
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# Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements |
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# Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc |
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# You may also need to install tensorflow-gpu 2.0.0 |
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# Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) |
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``` |
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## Build openpilot for webcam |
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``` |
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cd ~/openpilot |
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scons use_webcam=1 |
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touch prebuilt |
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``` |
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## Connect the hardwares |
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``` |
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# Connect the road facing camera first, then the driver facing camera |
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# (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc) |
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# Connect your computer to panda |
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``` |
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## GO |
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``` |
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cd ~/openpilot/tools/webcam |
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./accept_terms.py # accept the user terms so that thermald can detect the car started |
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cd ~/openpilot/selfdrive |
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PASSIVE=0 NOSENSOR=1 ./manager.py |
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# Start the car, then the UI should show the road webcam's view |
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# Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera) |
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# Finish calibration and engage! |
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``` |
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@ -0,0 +1,9 @@ |
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#!/usr/bin/env python |
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from common.params import Params |
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from selfdrive.version import terms_version, training_version |
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if __name__ == '__main__': |
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params = Params() |
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params.put("HasAcceptedTerms", str(terms_version, 'utf-8')) |
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params.put("CompletedTrainingVersion", str(training_version, 'utf-8')) |
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print("Terms Accepted!") |
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@ -0,0 +1,35 @@ |
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#!/usr/bin/env python |
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import numpy as np |
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# copied from common.transformations/camera.py |
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eon_dcam_focal_length = 860.0 # pixels |
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webcam_focal_length = 908.0 # pixels |
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eon_dcam_intrinsics = np.array([ |
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[eon_dcam_focal_length, 0, 1152/2.], |
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[ 0, eon_dcam_focal_length, 864/2.], |
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[ 0, 0, 1]]) |
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webcam_intrinsics = np.array([ |
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[webcam_focal_length, 0., 1280/2.], |
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[ 0., webcam_focal_length, 720/2.], |
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[ 0., 0., 1.]]) |
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cam_id = 2 |
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if __name__ == "__main__": |
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import cv2 |
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trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics,np.linalg.inv(webcam_intrinsics)) |
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cap = cv2.VideoCapture(cam_id) |
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) |
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) |
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while (True): |
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ret, img = cap.read() |
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if ret: |
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img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152,864), borderMode=cv2.BORDER_CONSTANT, borderValue=0) |
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img = img[:,-864//2:,:] |
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cv2.imshow('preview', img) |
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cv2.waitKey(10) |
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@ -0,0 +1,45 @@ |
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#!/usr/bin/env python |
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import numpy as np |
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# copied from common.transformations/camera.py |
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eon_focal_length = 910.0 # pixels |
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eon_dcam_focal_length = 860.0 # pixels |
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webcam_focal_length = 908.0 # pixels |
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eon_intrinsics = np.array([ |
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[eon_focal_length, 0., 1164/2.], |
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[ 0., eon_focal_length, 874/2.], |
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[ 0., 0., 1.]]) |
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eon_dcam_intrinsics = np.array([ |
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[eon_dcam_focal_length, 0, 1152/2.], |
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[ 0, eon_dcam_focal_length, 864/2.], |
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[ 0, 0, 1]]) |
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webcam_intrinsics = np.array([ |
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[webcam_focal_length, 0., 1280/2.], |
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[ 0., webcam_focal_length, 720/2.], |
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[ 0., 0., 1.]]) |
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if __name__ == "__main__": |
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import cv2 |
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trans_webcam_to_eon_rear = np.dot(eon_intrinsics,np.linalg.inv(webcam_intrinsics)) |
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trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics,np.linalg.inv(webcam_intrinsics)) |
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print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear) |
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print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front) |
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cap = cv2.VideoCapture(1) |
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) |
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) |
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while (True): |
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ret, img = cap.read() |
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if ret: |
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# img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) |
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img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) |
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print(img.shape, end='\r') |
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cv2.imshow('preview', img) |
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cv2.waitKey(10) |
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