update viewer

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)
+    hist = cv2.calcHist([cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_BGR2GRAY)],[0],None,[32],[0,256])
-    dat.tofile('/tmp/c3rgb.img')
+    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)