Revert fullframe DM model (#24812)

* Revert "fullframe DM: flip RHD yaw to use matching thresholds"

This reverts commit ce7daabc8847d18ba46e5d1879f5a6958d04ccc7.

* Revert "fullframe DM model (#24762)"

This reverts commit 817be81fb19004f4873881f6b29dcdfffbe7e3a8.

* revert cereal
old-commit-hash: c646eeee0a

selfdrive/ui/qt/offroad/driverview.cc

@@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
   emit done();
 }
 
-DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
+DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
   face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }
 
@@ -57,36 +57,43 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     return;
   }
 
-  cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
-  cereal::DriverStateV2::DriverData::Reader driver_data;
+  const int width = 4 * height() / 3;
+  const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
+  const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};
 
-  // is_rhd = driver_state.getWheelOnRightProb() > 0.5;
-  driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
+  // blackout
+  const QColor bg(0, 0, 0, 140);
+  const QRect& blackout_rect = rect();
+  p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
+  p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
+  p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
 
-  bool face_detected = driver_data.getFaceProb() > 0.5;
+  // face bounding box
+  cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
+  bool face_detected = driver_state.getFaceProb() > 0.5;
   if (face_detected) {
-    auto fxy_list = driver_data.getFacePosition();
-    auto std_list = driver_data.getFaceOrientationStd();
+    auto fxy_list = driver_state.getFacePosition();
+    auto std_list = driver_state.getFaceOrientationStd();
     float face_x = fxy_list[0];
     float face_y = fxy_list[1];
     float face_std = std::max(std_list[0], std_list[1]);
 
     float alpha = 0.7;
-    if (face_std > 0.15) {
-      alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
+    if (face_std > 0.08) {
+      alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
     }
-    const int box_size = 220;
-    // use approx instead of distort_points
-    int fbox_x = 1080.0 - 1714.0 * face_x;
-    int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
+    const int box_size = 0.6 * rect2.height() / 2;
+    const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
+    int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
+    int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
     p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
     p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
   }
 
   // icon
-  const int img_offset = 60;
-  const int img_x = rect().left() + img_offset;
-  const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.2);
+  const int img_offset = 30;
+  const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
+  const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
+  p.setOpacity(face_detected ? 1.0 : 0.3);
   p.drawPixmap(img_x, img_y, face_img);
 }

selfdrive/ui/qt/widgets/cameraview.cc

@@ -54,15 +54,16 @@ const mat4 device_transform = {{
 }};
 
 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 2.0;
-  const float yscale = stream_height * driver_view_ratio / stream_width;
+  const float driver_view_ratio = 1.333;
+  const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
   const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
   mat4 transform = (mat4){{
-    xscale,  0.0, 0.0, 0.0,
-    0.0,  yscale, 0.0, 0.0,
+    xscale,  0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
+    0.0,  yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
     0.0,  0.0, 1.0, 0.0,
     0.0,  0.0, 0.0, 1.0,
   }};
+
   return transform;
 }