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replay: do not clear ui image when paused (#22467)

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* replay: do not clear ui image when paused

* also stop plots

Co-authored-by: Willem Melching <willem.melching@gmail.com>
This commit is contained in:
Greg Hogan
2021-10-07 02:18:45 -07:00
committed by GitHub
parent a88cb6e962
commit 720e82eeef
1 changed files with 12 additions and 13 deletions
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25
tools/replay/ui.py
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@@ -114,22 +114,21 @@ def ui_thread(addr):
rgb_img_raw = vipc_client.recv()
if rgb_img_raw is not None and rgb_img_raw.any():
num_px = len(rgb_img_raw) // 3
imgff_shape = (vipc_client.height, vipc_client.width, 3)
if rgb_img_raw is None or not rgb_img_raw.any():
continue
if imgff is None or imgff.shape != imgff_shape:
imgff = np.zeros(imgff_shape, dtype=np.uint8)
num_px = len(rgb_img_raw) // 3
imgff_shape = (vipc_client.height, vipc_client.width, 3)
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((vipc_client.height, vipc_client.width, 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
zoom_matrix = _BB_TO_FULL_FRAME[num_px]
cv2.warpAffine(imgff, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
if imgff is None or imgff.shape != imgff_shape:
imgff = np.zeros(imgff_shape, dtype=np.uint8)
intrinsic_matrix = _INTRINSICS[num_px]
else:
img.fill(0)
intrinsic_matrix = np.eye(3)
imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((vipc_client.height, vipc_client.width, 3))
imgff = imgff[:, :, ::-1] # Convert BGR to RGB
zoom_matrix = _BB_TO_FULL_FRAME[num_px]
cv2.warpAffine(imgff, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
intrinsic_matrix = _INTRINSICS[num_px]
sm.update(0)