79 lines
2.6 KiB
Python
79 lines
2.6 KiB
Python
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import numpy as np
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from msgq.visionipc import VisionIpcServer, VisionStreamType
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from cereal import messaging
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from openpilot.tools.sim.lib.common import W, H
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def rgb_to_nv12(rgb):
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"""Convert RGB image to NV12 (YUV420) format using BT.601 coefficients."""
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h, w = rgb.shape[:2]
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r = rgb[:, :, 0].astype(np.int32)
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g = rgb[:, :, 1].astype(np.int32)
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b = rgb[:, :, 2].astype(np.int32)
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# Y plane - BT.601 coefficients (matches original OpenCL kernel)
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y = (((b * 13 + g * 65 + r * 33) + 64) >> 7) + 16
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y = np.clip(y, 0, 255).astype(np.uint8)
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# Subsample RGB for UV (2x2 box filter)
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r_sub = (r[0::2, 0::2] + r[0::2, 1::2] + r[1::2, 0::2] + r[1::2, 1::2] + 2) >> 2
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g_sub = (g[0::2, 0::2] + g[0::2, 1::2] + g[1::2, 0::2] + g[1::2, 1::2] + 2) >> 2
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b_sub = (b[0::2, 0::2] + b[0::2, 1::2] + b[1::2, 0::2] + b[1::2, 1::2] + 2) >> 2
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# U and V planes
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u = np.clip((b_sub * 56 - g_sub * 37 - r_sub * 19 + 0x8080) >> 8, 0, 255).astype(np.uint8)
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v = np.clip((r_sub * 56 - g_sub * 47 - b_sub * 9 + 0x8080) >> 8, 0, 255).astype(np.uint8)
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# Interleave UV for NV12 format
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uv = np.empty((h // 2, w), dtype=np.uint8)
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uv[:, 0::2] = u
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uv[:, 1::2] = v
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return np.concatenate([y.ravel(), uv.ravel()]).tobytes()
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class Camerad:
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"""Simulates the camerad daemon"""
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def __init__(self, dual_camera):
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self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState'])
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self.frame_road_id = 0
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self.frame_wide_id = 0
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self.vipc_server = VisionIpcServer("camerad")
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
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if dual_camera:
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self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H)
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self.vipc_server.start_listener()
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def cam_send_yuv_road(self, yuv):
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self._send_yuv(yuv, self.frame_road_id, 'roadCameraState', VisionStreamType.VISION_STREAM_ROAD)
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self.frame_road_id += 1
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def cam_send_yuv_wide_road(self, yuv):
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self._send_yuv(yuv, self.frame_wide_id, 'wideRoadCameraState', VisionStreamType.VISION_STREAM_WIDE_ROAD)
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self.frame_wide_id += 1
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def rgb_to_yuv(self, rgb):
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"""Convert RGB to NV12 YUV format."""
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assert rgb.shape == (H, W, 3), f"{rgb.shape}"
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assert rgb.dtype == np.uint8
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return rgb_to_nv12(rgb)
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def _send_yuv(self, yuv, frame_id, pub_type, yuv_type):
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eof = int(frame_id * 0.05 * 1e9)
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self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
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dat = messaging.new_message(pub_type, valid=True)
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msg = {
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"frameId": frame_id,
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"transform": [1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0]
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}
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setattr(dat, pub_type, msg)
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self.pm.send(pub_type, dat)
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