system/ui: add specialized camera views with custom transformations (#35346)

* add specialized camera views with custom transformations for driver and road

* improve

* return np array

* cached matrix

system/ui/widgets/cameraview.py

@@ -1,4 +1,6 @@
+import numpy as np
 import pyray as rl
+
 from openpilot.system.hardware import TICI
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.system.ui.lib.application import gui_app
@@ -89,6 +91,24 @@ class CameraView:
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
 
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    if not self.frame:
+      return np.eye(3)
+
+    # Calculate aspect ratios
+    widget_aspect_ratio = rect.width / rect.height
+    frame_aspect_ratio = self.frame.width / self.frame.height
+
+    # Calculate scaling factors to maintain aspect ratio
+    zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0)
+    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
+
+    return np.array([
+        [zx, 0.0, 0.0],
+        [0.0, zy, 0.0],
+        [0.0, 0.0, 1.0]
+    ])
+
   def render(self, rect: rl.Rectangle):
     if not self._ensure_connection():
       return
@@ -102,12 +122,21 @@ class CameraView:
     if not self.frame:
       return
 
-    # Calculate scaling to maintain aspect ratio
-    scale = min(rect.width / self.frame.width, rect.height / self.frame.height)
-    x_offset = rect.x + (rect.width - (self.frame.width * scale)) / 2
-    y_offset = rect.y + (rect.height - (self.frame.height * scale)) / 2
+    transform = self._calc_frame_matrix(rect)
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    dst_rect = rl.Rectangle(x_offset, y_offset, self.frame.width * scale, self.frame.height * scale)
+
+    # Calculate scale
+    scale_x = rect.width * transform[0, 0]  # zx
+    scale_y = rect.height * transform[1, 1]  # zy
+
+    # Calculate base position (centered)
+    x_offset = rect.x + (rect.width - scale_x) / 2
+    y_offset = rect.y + (rect.height - scale_y) / 2
+
+    x_offset += transform[0, 2] * rect.width / 2
+    y_offset += transform[1, 2] * rect.height / 2
+
+    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
     if TICI:

system/ui/widgets/driver_camera_view.py

@@ -0,0 +1,46 @@
+import numpy as np
+import pyray as rl
+from openpilot.system.ui.widgets.cameraview import CameraView
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+
+
+class DriverCameraView(CameraView):
+  def __init__(self, stream_type: VisionStreamType):
+    super().__init__("camerad", stream_type)
+
+  def render(self, rect):
+    super().render(rect)
+
+    # TODO: Add additional rendering logic
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    driver_view_ratio = 2.0
+
+    # Get stream dimensions
+    if self.frame:
+      stream_width = self.frame.width
+      stream_height = self.frame.height
+    else:
+      # Default values if frame not available
+      stream_width = 1928
+      stream_height = 1208
+
+    yscale = stream_height * driver_view_ratio / stream_width
+    xscale = yscale * rect.height / rect.width * stream_width / stream_height
+
+    return np.array([
+      [xscale, 0.0, 0.0],
+      [0.0, yscale, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Driver Camera View")
+  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  try:
+    for _ in gui_app.render():
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    driver_camera_view.close()