From a413f0577ae59d3b226614464480c2e01e49aaa1 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 30 Jul 2020 17:10:02 -0700 Subject: [PATCH] update viewer --- .../camerad/test/tici_zclient/livergb.py | 23 ++++++++++++++----- 1 file changed, 17 insertions(+), 6 deletions(-) diff --git a/selfdrive/camerad/test/tici_zclient/livergb.py b/selfdrive/camerad/test/tici_zclient/livergb.py index 141d228fcf..56666a0ff5 100755 --- a/selfdrive/camerad/test/tici_zclient/livergb.py +++ b/selfdrive/camerad/test/tici_zclient/livergb.py @@ -3,16 +3,17 @@ import numpy as np import cv2 from time import time, sleep -H, W = (604//3, 964//3) +H, W = (604*2//4, 964*2//4) # H, W = (604, 964) cam_bufs = np.zeros((3,H,W,3), dtype=np.uint8) +hist_bufs = np.zeros((3,H,200,3), dtype=np.uint8) if __name__ == '__main__': import zmq context = zmq.Context() socket = context.socket(zmq.PULL) - socket.bind("tcp://192.168.2.221:7768") + socket.bind("tcp://192.168.2.191:7768") while True: try: message = socket.recv() @@ -21,13 +22,23 @@ if __name__ == '__main__': message = b"123" dat = np.frombuffer(message, dtype=np.uint8) - cam_id = dat[0] + cam_id = (dat[0] + 1) % 3 # import pdb; pdb.set_trace() b = dat[::3].reshape(H, W) g = dat[1::3].reshape(H, W) r = dat[2::3].reshape(H, W) cam_bufs[cam_id] = cv2.merge((r, g, b)) cam_bufs[cam_id]= cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_RGB2BGR) - cv2.imshow('RGB',cam_bufs.reshape((3*H,W,3))) - cv2.waitKey(20) - dat.tofile('/tmp/c3rgb.img') \ No newline at end of file + + hist = cv2.calcHist([cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_BGR2GRAY)],[0],None,[32],[0,256]) + hist = (H*hist/hist.max()).astype(np.uint8) + for i,bb in enumerate(hist): + hist_bufs[cam_id, H-bb[0]:,i*(200//32):(i+1)*(200//32), :] = (222,222,222) + + out = cam_bufs.reshape((3*H,W,3)) + hist_bufs_out = hist_bufs.reshape((3*H,200,3)) + out = np.hstack([out, hist_bufs_out]) + cv2.imshow('RGB', out) + cv2.waitKey(55) + #dat.tofile('/tmp/c3rgb.img') + #cv2.imwrite('/tmp/c3rgb.png', out)