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93 lines
2.6 KiB
93 lines
2.6 KiB
#!/usr/bin/env python
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import os
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import sys
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import argparse
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import zmq
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import json
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import cv2
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import numpy as np
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from hexdump import hexdump
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import scipy.misc
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import struct
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from collections import deque
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# sudo pip install git+git://github.com/mikeboers/PyAV.git
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import av
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import cereal.messaging as messaging
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from cereal.services import service_list
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PYGAME = os.getenv("PYGAME") is not None
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if PYGAME:
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import pygame
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imgff = np.zeros((874, 1164, 3), dtype=np.uint8)
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# first 74 bytes in any stream
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start = "0000000140010c01ffff016000000300b0000003000003005dac5900000001420101016000000300b0000003000003005da0025080381c5c665aee4c92ec80000000014401c0f1800420"
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def receiver_thread():
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if PYGAME:
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pygame.init()
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pygame.display.set_caption("vnet debug UI")
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screen = pygame.display.set_mode((1164,874), pygame.DOUBLEBUF)
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camera_surface = pygame.surface.Surface((1164,874), 0, 24).convert()
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addr = "192.168.5.11"
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if len(sys.argv) >= 2:
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addr = sys.argv[1]
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context = zmq.Context()
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s = messaging.sub_sock(context, 9002, addr=addr)
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frame_sock = messaging.pub_sock(context, service_list['frame'].port)
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ctx = av.codec.codec.Codec('hevc', 'r').create()
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ctx.decode(av.packet.Packet(start.decode("hex")))
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import time
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while 1:
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t1 = time.time()
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ts, raw = s.recv_multipart()
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ts = struct.unpack('q', ts)[0] * 1000
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t1, t2 = time.time(), t1
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#print 'ms to get frame:', (t1-t2)*1000
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pkt = av.packet.Packet(raw)
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f = ctx.decode(pkt)
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if not f:
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continue
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f = f[0]
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t1, t2 = time.time(), t1
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#print 'ms to decode:', (t1-t2)*1000
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y_plane = np.frombuffer(f.planes[0], np.uint8).reshape((874, 1216))[:, 0:1164]
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u_plane = np.frombuffer(f.planes[1], np.uint8).reshape((437, 608))[:, 0:582]
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v_plane = np.frombuffer(f.planes[2], np.uint8).reshape((437, 608))[:, 0:582]
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yuv_img = y_plane.tobytes() + u_plane.tobytes() + v_plane.tobytes()
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t1, t2 = time.time(), t1
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#print 'ms to make yuv:', (t1-t2)*1000
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#print 'tsEof:', ts
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dat = messaging.new_message()
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dat.init('frame')
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dat.frame.image = yuv_img
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dat.frame.timestampEof = ts
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dat.frame.transform = map(float, list(np.eye(3).flatten()))
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frame_sock.send(dat.to_bytes())
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if PYGAME:
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yuv_np = np.frombuffer(yuv_img, dtype=np.uint8).reshape(874 * 3 // 2, -1)
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cv2.cvtColor(yuv_np, cv2.COLOR_YUV2RGB_I420, dst=imgff)
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#print yuv_np.shape, imgff.shape
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#scipy.misc.imsave("tmp.png", imgff)
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pygame.surfarray.blit_array(camera_surface, imgff.swapaxes(0,1))
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screen.blit(camera_surface, (0, 0))
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pygame.display.flip()
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def main(gctx=None):
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receiver_thread()
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if __name__ == "__main__":
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main()
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