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79 lines
3.0 KiB
79 lines
3.0 KiB
#!/usr/bin/env python3
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import os
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import argparse
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import pygame
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import numpy as np
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import cv2
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from cereal import log
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import cereal.messaging as messaging
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from helpers import draw_pose
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if __name__ == "__main__":
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os.environ["ZMQ"] = "1"
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parser = argparse.ArgumentParser(description='Sniff a communcation socket')
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parser.add_argument('--addr', default='192.168.5.11')
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args = parser.parse_args()
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messaging.context = messaging.Context()
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poller = messaging.Poller()
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m = 'driverMonitoring'
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messaging.sub_sock(m, poller, addr=args.addr)
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pygame.init()
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pygame.display.set_caption('livedm')
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screen = pygame.display.set_mode((320,640), pygame.DOUBLEBUF)
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camera_surface = pygame.surface.Surface((160,320), 0, 24).convert()
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while 1:
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polld = poller.poll(1000)
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for sock in polld:
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msg = sock.receive()
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evt = log.Event.from_bytes(msg)
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faceProb = np.array(evt.driverMonitoring.faceProb)
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faceOrientation = np.array(evt.driverMonitoring.faceOrientation)
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facePosition = np.array(evt.driverMonitoring.facePosition)
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print(faceProb)
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# print(faceOrientation)
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# print(facePosition)
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faceOrientation[1] *= -1
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facePosition[0] *= -1
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img = np.zeros((320,160,3))
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if faceProb > 0.4:
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cv2.putText(img, 'you', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (255,255,0))
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cv2.rectangle(img, (int(facePosition[0]*160+40), int(facePosition[1]*320+120)),\
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(int(facePosition[0]*160+120), int(facePosition[1]*320+200)), (255,255,0), 1)
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not_blink = evt.driverMonitoring.leftBlinkProb + evt.driverMonitoring.rightBlinkProb < 1
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if evt.driverMonitoring.leftEyeProb > 0.6:
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cv2.line(img, (int(facePosition[0]*160+95), int(facePosition[1]*320+140)),\
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(int(facePosition[0]*160+105), int(facePosition[1]*320+140)), (255,255,0), 2)
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if not_blink:
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cv2.line(img, (int(facePosition[0]*160+99), int(facePosition[1]*320+143)),\
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(int(facePosition[0]*160+101), int(facePosition[1]*320+143)), (255,255,0), 2)
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if evt.driverMonitoring.rightEyeProb > 0.6:
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cv2.line(img, (int(facePosition[0]*160+55), int(facePosition[1]*320+140)),\
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(int(facePosition[0]*160+65), int(facePosition[1]*320+140)), (255,255,0), 2)
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if not_blink:
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cv2.line(img, (int(facePosition[0]*160+59), int(facePosition[1]*320+143)),\
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(int(facePosition[0]*160+61), int(facePosition[1]*320+143)), (255,255,0), 2)
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else:
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cv2.putText(img, 'you not found', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (64,64,64))
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draw_pose(img, faceOrientation, facePosition,
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W = 160, H = 320, xyoffset = (0, 0), faceprob=faceProb)
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pygame.surfarray.blit_array(camera_surface, img.swapaxes(0,1))
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camera_surface_2x = pygame.transform.scale2x(camera_surface)
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screen.blit(camera_surface_2x, (0, 0))
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pygame.display.flip()
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