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refactor camera transformations (#31818)

Browse Source 
* refactor camera transormations

* update users

* more stuff

* more fix

* swap

* tici

* lil shorter
pull/31823/head
Adeeb Shihadeh 1 year ago committed by GitHub
parent 6a7a998058
commit e3589e4b5c
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12 changed files with 121 additions and 142 deletions
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  1. 100
      common/transformations/camera.py
  2. 21
      common/transformations/model.py
  3. 6
      selfdrive/modeld/modeld.py
  4. 11
      selfdrive/modeld/tests/test_modeld.py
  5. 6
      selfdrive/monitoring/driver_monitor.py
  6. 16
      selfdrive/test/process_replay/migration.py
  7. 4
      selfdrive/test/process_replay/regen.py
  8. 10
      selfdrive/test/process_replay/vision_meta.py
  9. 11
      selfdrive/ui/tests/test_ui/run.py
  10. 9
      system/loggerd/tests/test_loggerd.py
  11. 43
      tools/replay/lib/ui_helpers.py
  12. 26
      tools/replay/ui.py

100
common/transformations/camera.py
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@ -1,55 +1,55 @@
import itertools
import numpy as np
from dataclasses import dataclass
import openpilot.common.transformations.orientation as orient
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
eon_d_focal_length = 650.0
tici_f_focal_length = 2648.0
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
eon_f_frame_size = (1164, 874)
eon_d_frame_size = (816, 612)
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
# aka 'K' aka camera_frame_from_view_frame
eon_fcam_intrinsics = np.array([
[eon_f_focal_length, 0.0, float(eon_f_frame_size[0])/2],
[0.0, eon_f_focal_length, float(eon_f_frame_size[1])/2],
[0.0, 0.0, 1.0]])
eon_intrinsics = eon_fcam_intrinsics # xx
eon_dcam_intrinsics = np.array([
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
tici_fcam_intrinsics = np.array([
[tici_f_focal_length, 0.0, float(tici_f_frame_size[0])/2],
[0.0, tici_f_focal_length, float(tici_f_frame_size[1])/2],
[0.0, 0.0, 1.0]])
tici_dcam_intrinsics = np.array([
[tici_d_focal_length, 0.0, float(tici_d_frame_size[0])/2],
[0.0, tici_d_focal_length, float(tici_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
tici_ecam_intrinsics = tici_dcam_intrinsics
# aka 'K_inv' aka view_frame_from_camera_frame
eon_fcam_intrinsics_inv = np.linalg.inv(eon_fcam_intrinsics)
eon_intrinsics_inv = eon_fcam_intrinsics_inv # xx
tici_fcam_intrinsics_inv = np.linalg.inv(tici_fcam_intrinsics)
tici_ecam_intrinsics_inv = np.linalg.inv(tici_ecam_intrinsics)
FULL_FRAME_SIZE = tici_f_frame_size
FOCAL = tici_f_focal_length
fcam_intrinsics = tici_fcam_intrinsics
W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
@dataclass(frozen=True)
class CameraConfig:
width: int
height: int
focal_length: float
@property
def intrinsics(self):
# aka 'K' aka camera_frame_from_view_frame
return np.array([
[self.focal_length, 0.0, float(self.width)/2],
[0.0, self.focal_length, float(self.height)/2],
[0.0, 0.0, 1.0]
])
@property
def intrinsics_inv(self):
# aka 'K_inv' aka view_frame_from_camera_frame
return np.linalg.inv(self.intrinsics)
@dataclass(frozen=True)
class DeviceCameraConfig:
fcam: CameraConfig
dcam: CameraConfig
ecam: CameraConfig
ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), ar_ox_fisheye, ar_ox_fisheye)
os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), os_fisheye, os_fisheye)
DEVICE_CAMERAS = {
# A "device camera" is defined by a device type and sensor
# sensor type was never set on eon/neo/two
("neo", "unknown"): DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), CameraConfig(0, 0, 0.)),
# unknown here is AR0231, field was added with OX03C10 support
("tici", "unknown"): ar_ox_config,
# before deviceState.deviceType was set, assume tici AR config
("unknown", "ar0231"): ar_ox_config,
("unknown", "ox03c10"): ar_ox_config,
}
prods = itertools.product(('tici', 'tizi', 'mici'), (('ar0231', ar_ox_config), ('ox03c10', ar_ox_config), ('os04c10', os_config)))
DEVICE_CAMERAS.update({(d, c[0]): c[1] for d, c in prods})
# device/mesh : x->forward, y-> right, z->down
# view : x->right, y->down, z->forward
@ -93,7 +93,7 @@ def roll_from_ke(m):
-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
def normalize(img_pts, intrinsics=fcam_intrinsics):
def normalize(img_pts, intrinsics):
# normalizes image coordinates
# accepts single pt or array of pts
intrinsics_inv = np.linalg.inv(intrinsics)
@ -106,7 +106,7 @@ def normalize(img_pts, intrinsics=fcam_intrinsics):
return img_pts_normalized[:, :2].reshape(input_shape)
def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf):
def denormalize(img_pts, intrinsics, width=np.inf, height=np.inf):
# denormalizes image coordinates
# accepts single pt or array of pts
img_pts = np.array(img_pts)
@ -123,7 +123,7 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
return img_pts_denormalized[:, :2].reshape(input_shape)
def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
def get_calib_from_vp(vp, intrinsics):
vp_norm = normalize(vp, intrinsics)
yaw_calib = np.arctan(vp_norm[0])
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))

21
common/transformations/model.py
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@ -1,19 +1,11 @@
import numpy as np
from openpilot.common.transformations.orientation import rot_from_euler
from openpilot.common.transformations.camera import (
FULL_FRAME_SIZE, get_view_frame_from_calib_frame, view_frame_from_device_frame,
eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics)
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
# segnet
SEGNET_SIZE = (512, 384)
def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=FULL_FRAME_SIZE):
return np.array([[float(segnet_size[0]) / full_frame_size[0], 0.0],
[0.0, float(segnet_size[1]) / full_frame_size[1]]])
segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
# MED model
MEDMODEL_INPUT_SIZE = (512, 256)
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
@ -63,16 +55,9 @@ calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
# This function is verified to give similar results to xx.uncommon.utils.transform_img
def get_warp_matrix(device_from_calib_euler: np.ndarray, wide_camera: bool = False, bigmodel_frame: bool = False, tici: bool = True) -> np.ndarray:
if tici and wide_camera:
cam_intrinsics = tici_ecam_intrinsics
elif tici:
cam_intrinsics = tici_fcam_intrinsics
else:
cam_intrinsics = eon_fcam_intrinsics
def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
device_from_calib = rot_from_euler(device_from_calib_euler)
camera_from_calib = cam_intrinsics @ view_frame_from_device_frame @ device_from_calib
camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
return warp_matrix

6
selfdrive/modeld/modeld.py
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@ -13,6 +13,7 @@ from openpilot.common.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive import sentry
from openpilot.selfdrive.car.car_helpers import get_demo_car_params
@ -227,8 +228,9 @@ def main(demo=False):
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
model_transform_main = get_warp_matrix(device_from_calib_euler, main_wide_camera, False).astype(np.float32)
model_transform_extra = get_warp_matrix(device_from_calib_euler, True, True).astype(np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
live_calib_seen = True
traffic_convention = np.zeros(2)

11
selfdrive/modeld/tests/test_modeld.py
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@ -5,13 +5,14 @@ import random
import cereal.messaging as messaging
from cereal.visionipc import VisionIpcServer, VisionStreamType
from openpilot.common.transformations.camera import tici_f_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.car.car_helpers import write_car_param
from openpilot.selfdrive.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
IMG_BYTES = IMG.flatten().tobytes()
@ -19,9 +20,9 @@ class TestModeld(unittest.TestCase):
def setUp(self):
self.vipc_server = VisionIpcServer("camerad")
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
self.vipc_server.start_listener()
write_car_param()

6
selfdrive/monitoring/driver_monitor.py
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@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import interp
from openpilot.common.realtime import DT_DMON
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.stat_live import RunningStatFilter
from openpilot.common.transformations.camera import tici_d_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
EventName = car.CarEvent.EventName
@ -71,9 +71,11 @@ class DRIVER_MONITOR_SETTINGS():
self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON) # not allowed to engage after 30s of terminal alerts
# TODO: get these live
# model output refers to center of undistorted+leveled image
EFL = 598.0 # focal length in K
W, H = tici_d_frame_size # corrected image has same size as raw
cam = DEVICE_CAMERAS[("tici", "ar0231")] # corrected image has same size as raw
W, H = (cam.dcam.width, cam.dcam.height) # corrected image has same size as raw
class DistractedType:
NOT_DISTRACTED = 0

16
selfdrive/test/process_replay/migration.py
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@ -12,6 +12,7 @@ def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False,
msgs = migrate_sensorEvents(lr, old_logtime)
msgs = migrate_carParams(msgs, old_logtime)
msgs = migrate_gpsLocation(msgs)
msgs = migrate_deviceState(msgs)
if manager_states:
msgs = migrate_managerState(msgs)
if panda_states:
@ -52,6 +53,21 @@ def migrate_gpsLocation(lr):
return all_msgs
def migrate_deviceState(lr):
all_msgs = []
dt = None
for msg in lr:
if msg.which() == 'initData':
dt = msg.initData.deviceType
if msg.which() == 'deviceState':
n = msg.as_builder()
n.deviceState.deviceType = dt
all_msgs.append(n.as_reader())
else:
all_msgs.append(msg)
return all_msgs
def migrate_pandaStates(lr):
all_msgs = []
# TODO: safety param migration should be handled automatically

4
selfdrive/test/process_replay/regen.py
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@ -10,7 +10,7 @@ from collections.abc import Iterable
from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \
check_openpilot_enabled, get_custom_params_from_lr
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_FRAME_SIZES
from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES
from openpilot.selfdrive.test.update_ci_routes import upload_route
from openpilot.tools.lib.route import Route
from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
@ -37,7 +37,7 @@ class DummyFrameReader(BaseFrameReader):
@staticmethod
def zero_dcamera():
return DummyFrameReader(*DRIVER_FRAME_SIZES["tici"], 1200, 0)
return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0)
def regen_segment(

10
selfdrive/test/process_replay/vision_meta.py
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@ -1,17 +1,17 @@
from collections import namedtuple
from cereal.visionipc import VisionStreamType
from openpilot.common.realtime import DT_MDL, DT_DMON
from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "neo": eon_f_frame_size}
WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "neo": eon_d_frame_size}
ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None}
DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()}
VIPC_STREAM_METADATA = [
# metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES),
("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES),
]

11
selfdrive/ui/tests/test_ui/run.py
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@ -18,7 +18,7 @@ from cereal.messaging import SubMaster, PubMaster
from openpilot.common.mock import mock_messages
from openpilot.common.params import Params
from openpilot.common.realtime import DT_MDL
from openpilot.common.transformations.camera import tici_f_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.selfdrive.test.helpers import with_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
from openpilot.tools.webcam.camera import Camera
@ -69,15 +69,16 @@ def setup_onroad(click, pm: PubMaster):
pm.send("pandaStates", dat)
d = DEVICE_CAMERAS[("tici", "ar0231")]
server = VisionIpcServer("camerad")
server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *tici_f_frame_size)
server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *tici_f_frame_size)
server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *tici_f_frame_size)
server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height)
server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height)
server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height)
server.start_listener()
time.sleep(0.5) # give time for vipc server to start
IMG = Camera.bgr2nv12(np.random.randint(0, 255, (*tici_f_frame_size,3), dtype=np.uint8))
IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
IMG_BYTES = IMG.flatten().tobytes()
cams = ('roadCameraState', 'wideRoadCameraState')

9
system/loggerd/tests/test_loggerd.py
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@ -24,7 +24,7 @@ from openpilot.system.version import get_version
from openpilot.tools.lib.helpers import RE
from openpilot.tools.lib.logreader import LogReader
from cereal.visionipc import VisionIpcServer, VisionStreamType
from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
SentinelType = log.Sentinel.SentinelType
@ -142,10 +142,11 @@ class TestLoggerd:
os.environ["LOGGERD_TEST"] = "1"
Params().put("RecordFront", "1")
d = DEVICE_CAMERAS[("tici", "ar0231")]
expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
vipc_server = VisionIpcServer("camerad")

43
tools/replay/lib/ui_helpers.py
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@ -7,9 +7,7 @@ import pygame
from matplotlib.backends.backend_agg import FigureCanvasAgg
from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
tici_f_frame_size, tici_f_focal_length,
get_view_frame_from_calib_frame)
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
@ -20,9 +18,6 @@ YELLOW = (255, 255, 0)
BLACK = (0, 0, 0)
WHITE = (255, 255, 255)
_FULL_FRAME_SIZE = {
}
class UIParams:
lidar_x, lidar_y, lidar_zoom = 384, 960, 6
lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
@ -32,45 +27,13 @@ class UIParams:
car_color = 110
UP = UIParams
_BB_TO_FULL_FRAME = {}
_CALIB_BB_TO_FULL = {}
_FULL_FRAME_TO_BB = {}
_INTRINSICS = {}
eon_f_qcam_frame_size = (480, 360)
tici_f_qcam_frame_size = (528, 330)
cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
(tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
(eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
(tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
for size, focal, full_size in cams:
sz = size[0] * size[1]
_BB_SCALE = size[0] / 640.
_BB_TO_FULL_FRAME[sz] = np.asarray([
[_BB_SCALE, 0., 0.],
[0., _BB_SCALE, 0.],
[0., 0., 1.]])
calib_scale = full_size[0] / 640.
_CALIB_BB_TO_FULL[sz] = np.asarray([
[calib_scale, 0., 0.],
[0., calib_scale, 0.],
[0., 0., 1.]])
_FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
_FULL_FRAME_SIZE[sz] = (size[0], size[1])
_INTRINSICS[sz] = np.array([
[focal, 0., full_size[0] / 2.],
[0., focal, full_size[1] / 2.],
[0., 0., 1.]])
METER_WIDTH = 20
class Calibration:
def __init__(self, num_px, rpy, intrinsic):
def __init__(self, num_px, rpy, intrinsic, calib_scale):
self.intrinsic = intrinsic
self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0]
self.zoom = calib_scale
def car_space_to_ff(self, x, y, z):
car_space_projective = np.column_stack((x, y, z)).T

26
tools/replay/ui.py
Unescape View File

@ -10,8 +10,9 @@ import pygame
import cereal.messaging as messaging
from openpilot.common.numpy_fast import clip
from openpilot.common.basedir import BASEDIR
from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
_INTRINSICS, BLACK, GREEN,
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.tools.replay.lib.ui_helpers import (UP,
BLACK, GREEN,
YELLOW, Calibration,
get_blank_lid_overlay, init_plots,
maybe_update_radar_points, plot_lead,
@ -55,7 +56,7 @@ def ui_thread(addr):
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
'liveTracks', 'modelV2', 'liveParameters'], addr=addr)
'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
img = np.zeros((480, 640, 3), dtype='uint8')
imgff = None
@ -112,20 +113,27 @@ def ui_thread(addr):
vipc_client.connect(True)
yuv_img_raw = vipc_client.recv()
if yuv_img_raw is None or not yuv_img_raw.data.any():
continue
sm.update(0)
camera = DEVICE_CAMERAS[("three", str(sm['roadCameraState'].sensor))]
imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
num_px = vipc_client.width * vipc_client.height
rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
zoom_matrix = _BB_TO_FULL_FRAME[num_px]
qcam = "QCAM" in os.environ
bb_scale = (528 if qcam else camera.fcam.width) / 640.
calib_scale = camera.fcam.width / 640.
zoom_matrix = np.asarray([
[bb_scale, 0., 0.],
[0., bb_scale, 0.],
[0., 0., 1.]])
cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px]
sm.update(0)
intrinsic_matrix = camera.fcam.intrinsics
w = sm['controlsState'].lateralControlState.which()
if w == 'lqrStateDEPRECATED':
@ -165,7 +173,7 @@ def ui_thread(addr):
if sm.updated['liveCalibration'] and num_px:
rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
calibration = Calibration(num_px, rpyCalib, intrinsic_matrix)
calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
# *** blits ***
pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))

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