new webcam tool to try camera streams ./jetson_test_cam.py

tools/webcam/jetson_test_cam.py

@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import numpy as np
+import time
+import sys
+import pygame
+from pygame.locals import *
+from selfdrive.car.tesla.readconfig import CarSettings
+
+if __name__ == "__main__":
+  import cv2
+  strm_template = ("v4l2src device=/dev/v4l/by-id/%s  ! video/x-raw,width=%d,height=%d,framerate=%d/1,format=YUY2 !"
+                             " nvvidconv ! video/x-raw(memory:NVMM),format=I420 !"
+                             " nvvidconv ! video/x-raw,format=BGRx !"
+                             " videoconvert ! video/x-raw,format=BGR !"
+                             " 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()
+        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
+    except (KeyboardInterrupt, SystemExit):
+      pygame.quit()
+      cv2.destroyAllWindows()
+  else:
+    print ("\nUnknown arguments %s\n" % str(sys.argv))
+    print ("Usage: %s road|driver\n" % sys.argv[0])