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120 lines
3.5 KiB
120 lines
3.5 KiB
#!/usr/bin/env python3
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import os
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import subprocess
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import time
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import numpy as np
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from PIL import Image
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from typing import List
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import cereal.messaging as messaging
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from common.params import Params
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from common.realtime import DT_MDL
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from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size
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from selfdrive.hardware import TICI
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from selfdrive.controls.lib.alertmanager import set_offroad_alert
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from selfdrive.manager.process_config import managed_processes
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LM_THRESH = 120 # defined in selfdrive/camerad/imgproc/utils.h
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def jpeg_write(fn, dat):
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img = Image.fromarray(dat)
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img.save(fn, "JPEG")
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def extract_image(dat, frame_sizes):
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img = np.frombuffer(dat, dtype=np.uint8)
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w, h = frame_sizes[len(img) // 3]
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b = img[::3].reshape(h, w)
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g = img[1::3].reshape(h, w)
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r = img[2::3].reshape(h, w)
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return np.dstack([r, g, b])
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def rois_in_focus(lapres: List[float]) -> float:
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sz = len(lapres)
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return sum([1. / sz for sharpness in
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lapres if sharpness >= LM_THRESH])
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def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.):
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frame_sizes = [eon_f_frame_size, eon_d_frame_size, tici_f_frame_size]
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frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes}
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sockets = []
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if frame is not None:
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sockets.append(frame)
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if front_frame is not None:
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sockets.append(front_frame)
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# wait 4 sec from camerad startup for focus and exposure
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sm = messaging.SubMaster(sockets)
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while sm[sockets[0]].frameId < int(4. / DT_MDL):
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sm.update()
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start_t = time.monotonic()
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while time.monotonic() - start_t < 10:
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sm.update()
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if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold:
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break
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rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None
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front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None
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return rear, front
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def snapshot():
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params = Params()
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front_camera_allowed = params.get_bool("RecordFront")
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if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
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print("Already taking snapshot")
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return None, None
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params.put_bool("IsTakingSnapshot", True)
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set_offroad_alert("Offroad_IsTakingSnapshot", True)
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time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start
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# Check if camerad is already started
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try:
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subprocess.check_call(["pgrep", "camerad"])
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print("Camerad already running")
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params.put_bool("IsTakingSnapshot", False)
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params.delete("Offroad_IsTakingSnapshot")
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return None, None
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except subprocess.CalledProcessError:
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pass
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os.environ["SEND_ROAD"] = "1"
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os.environ["SEND_WIDE_ROAD"] = "1"
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if front_camera_allowed:
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os.environ["SEND_DRIVER"] = "1"
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managed_processes['camerad'].start()
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frame = "wideRoadCameraState" if TICI else "roadCameraState"
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front_frame = "driverCameraState" if front_camera_allowed else None
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focus_perc_threshold = 0. if TICI else 10 / 12.
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rear, front = get_snapshots(frame, front_frame, focus_perc_threshold)
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managed_processes['camerad'].stop()
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params.put_bool("IsTakingSnapshot", False)
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set_offroad_alert("Offroad_IsTakingSnapshot", False)
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if not front_camera_allowed:
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front = None
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return rear, front
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if __name__ == "__main__":
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pic, fpic = snapshot()
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if pic is not None:
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print(pic.shape)
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jpeg_write("/tmp/back.jpg", pic)
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if fpic is not None:
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jpeg_write("/tmp/front.jpg", fpic)
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else:
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print("Error taking snapshot")
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