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124 lines
3.8 KiB
124 lines
3.8 KiB
#!/usr/bin/env python3
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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 cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionStreamType # pylint: disable=no-name-in-module, import-error
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from common.params import Params
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from common.realtime import DT_MDL
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from selfdrive.hardware import TICI, PC
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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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VISION_STREAMS = {
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"roadCameraState": VisionStreamType.VISION_STREAM_RGB_ROAD,
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"driverCameraState": VisionStreamType.VISION_STREAM_RGB_DRIVER,
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"wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD,
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}
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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(buf, w, h, stride):
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img = np.hstack([buf[i * stride:i * stride + 3 * w] for i in range(h)])
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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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return sum(1. / len(lapres) for sharpness in 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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sockets = [s for s in (frame, front_frame) if s is not None]
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sm = messaging.SubMaster(sockets)
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vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets}
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# wait 4 sec from camerad startup for focus and exposure
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while sm[sockets[0]].frameId < int(4. / DT_MDL):
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sm.update()
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for client in vipc_clients.values():
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client.connect(True)
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# wait for focus
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start_t = time.monotonic()
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while time.monotonic() - start_t < 10:
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sm.update(100)
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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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# grab images
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rear, front = None, None
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if frame is not None:
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c = vipc_clients[frame]
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rear = extract_image(c.recv(), c.width, c.height, c.stride)
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if front_frame is not None:
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c = vipc_clients[front_frame]
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front = extract_image(c.recv(), c.width, c.height, c.stride)
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return rear, front
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def snapshot():
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params = Params()
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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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front_camera_allowed = params.get_bool("RecordFront")
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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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try:
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# Allow testing on replay on PC
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if not PC:
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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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finally:
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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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