From 69736877d6cfe7f2a13112e08ea0dc6d0943a469 Mon Sep 17 00:00:00 2001
From: George Hotz <george@comma.ai>
Date: Fri, 11 Mar 2022 20:05:59 -0800
Subject: [PATCH] add script to receive camerastream supported by camerad

---
 tools/camerastream/receive.py | 35 +++++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100755 tools/camerastream/receive.py

diff --git a/tools/camerastream/receive.py b/tools/camerastream/receive.py
new file mode 100755
index 00000000000000..be034816acadcd
--- /dev/null
+++ b/tools/camerastream/receive.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+import os
+import sys
+import numpy as np
+os.environ['ZMQ'] = '1'
+
+from common.window import Window
+import cereal.messaging as messaging
+
+# start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad'
+# also start bridge
+# then run this "./receive.py <ip>"
+
+SCALE = 1
+XMIN = 771
+XMAX = 1156
+YMIN = 483
+YMAX = 724
+H, W = ((YMAX-YMIN+1)//SCALE, (XMAX-XMIN+1)//SCALE)
+
+if __name__ == '__main__':
+  cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
+  sm = messaging.SubMaster(cameras, addr=sys.argv[1])
+  win = Window(W*3, H)
+  bdat = np.zeros((H, W*3, 3), dtype=np.uint8)
+
+  while 1:
+    sm.update()
+    for i,k in enumerate(cameras):
+      if sm.updated[k]:
+        bgr_raw = sm[k].image
+        dat = np.frombuffer(bgr_raw, dtype=np.uint8).reshape(H, W, 3)[:, :, [2,1,0]]
+        bdat[:, W*i:W*(i+1)] = dat
+    win.draw(bdat)
+