From 3da3f7d143d12821a73af971ff9918c9789581ed Mon Sep 17 00:00:00 2001
From: BogGyver <bogdan.butoi@gmail.com>
Date: Sun, 12 Apr 2020 23:05:01 -0400
Subject: [PATCH] make jetson_test_cam.py work over ssh

---
 tools/webcam/jetson_test_cam.py | 28 ++++++----------------------
 1 file changed, 6 insertions(+), 22 deletions(-)

diff --git a/tools/webcam/jetson_test_cam.py b/tools/webcam/jetson_test_cam.py
index 0b9610c70c152d..21ed4a8907f900 100755
--- a/tools/webcam/jetson_test_cam.py
+++ b/tools/webcam/jetson_test_cam.py
@@ -2,9 +2,8 @@
 import numpy as np
 import time
 import sys
-import pygame
-from pygame.locals import *
 from selfdrive.car.tesla.readconfig import CarSettings
+from PIL import Image
 
 if __name__ == "__main__":
   import cv2
@@ -15,45 +14,30 @@
                              " videoscale ! video/x-raw,width=%d,height=%d !"
                              " appsink ")
   cs = CarSettings()
-  #cs.roadCameraID
-  #cs.driverCameraID
   if len(sys.argv) != 2:
     cam = str(sys.argv)
   else:
     cam = sys.argv[1]
   if cam == "road" or cam == "driver":
     print ("Processing camera [%s]\n" % cam)
-    pygame.init()
-    pygame.display.set_caption("OpenPilot Jetson camera stream on Pygame")
     if cam == "road":
       strm = strm_template % (cs.roadCameraID, 800, 600, 20, 1164,874)
-      screen = pygame.display.set_mode([1164,874])
     else:
       strm = strm_template % (cs.driverCameraID, 640, 480, 10, 1152,864)
-      screen = pygame.display.set_mode([1152,864])
     print("Capturing with stream [%s}\n" % strm)
     cap = cv2.VideoCapture(strm)
     i = 0
     try:
       while True:
-        ret, frame = cap.read()
+        ret, img = cap.read()
         if ret:
           if i == 0:
-            print(frame.shape+'\r')
-          screen.fill([0,0,0])
-          frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
-          frame = frame.swapaxes(0,1)
-          frame = pygame.surfarray.make_surface(frame)
-          screen.blit(frame, (0,0))
-          pygame.display.update()
-
-          for event in pygame.event.get():
-            if event.type == KEYDOWN:
-              sys.exit(0)
-          i = (i + 1) % 20
+            print(img.shape,end='\r')
+          cv2.imshow('preview',img)
+          cv2.waitKey(1)
     except (KeyboardInterrupt, SystemExit):
-      pygame.quit()
       cv2.destroyAllWindows()
   else:
     print ("\nUnknown arguments %s\n" % str(sys.argv))
+    print ("When using over ssh make sure you start seesion with 'ssh -Y user@jetson'\n")
     print ("Usage: %s road|driver\n" % sys.argv[0])