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44 lines
1.1 KiB
44 lines
1.1 KiB
#!/usr/bin/env python
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import os
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import sys
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import numpy as np
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os.environ['ZMQ'] = '1'
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from common.window import Window
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import cereal.messaging as messaging
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# start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad'
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# also start bridge
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# then run this "./receive.py <ip>"
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if "FULL" in os.environ:
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SCALE = 2
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XMIN, XMAX = 0, 1927
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YMIN, YMAX = 0, 1207
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else:
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SCALE = 1
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XMIN = 771
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XMAX = 1156
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YMIN = 483
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YMAX = 724
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H, W = ((YMAX-YMIN+1)//SCALE, (XMAX-XMIN+1)//SCALE)
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if __name__ == '__main__':
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cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
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if "CAM" in os.environ:
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cam = int(os.environ['CAM'])
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cameras = cameras[cam:cam+1]
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sm = messaging.SubMaster(cameras, addr=sys.argv[1])
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win = Window(W*len(cameras), H)
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bdat = np.zeros((H, W*len(cameras), 3), dtype=np.uint8)
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while 1:
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sm.update()
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for i,k in enumerate(cameras):
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if sm.updated[k]:
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#print("update", k)
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bgr_raw = sm[k].image
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dat = np.frombuffer(bgr_raw, dtype=np.uint8).reshape(H, W, 3)[:, :, [2,1,0]]
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bdat[:, W*i:W*(i+1)] = dat
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win.draw(bdat)
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