mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-30 02:52:04 +08:00
system/ui: optimize ModelRenderer (#35369)
* optimize ModelRenderer with vectorized operations * pre-calculate the exp mode colors * cleanup * improve batch map line to polygon * pre-calc leads
This commit is contained in:
Dean Lee
+224
-183
@@ -1,8 +1,8 @@
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import colorsys
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import bisect
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import numpy as np
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import pyray as rl
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from cereal import messaging, car
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from dataclasses import dataclass, field
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from openpilot.common.params import Params
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from openpilot.system.ui.lib.application import DEFAULT_FPS
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from openpilot.system.ui.lib.shader_polygon import draw_polygon
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@@ -27,6 +27,18 @@ NO_THROTTLE_COLORS = [
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]
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@dataclass
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class ModelPoints:
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raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
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projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
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@dataclass
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class LeadVehicle:
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glow: list[float] = field(default_factory=list)
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chevron: list[float] = field(default_factory=list)
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fill_alpha: int = 0
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class ModelRenderer:
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def __init__(self):
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self._longitudinal_control = False
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@@ -35,28 +47,34 @@ class ModelRenderer:
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self._prev_allow_throttle = True
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self._lane_line_probs = np.zeros(4, dtype=np.float32)
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self._road_edge_stds = np.zeros(2, dtype=np.float32)
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self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
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self._path_offset_z = 1.22
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# Initialize empty polygon vertices
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self._track_vertices = np.empty((0, 2), dtype=np.float32)
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self._lane_line_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(4)]
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self._road_edge_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(2)]
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self._lead_vertices = [None, None]
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# Initialize ModelPoints objects
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self._path = ModelPoints()
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self._lane_lines = [ModelPoints() for _ in range(4)]
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self._road_edges = [ModelPoints() for _ in range(2)]
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self._acceleration_x = np.empty((0,), dtype=np.float32)
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# Transform matrix (3x3 for car space to screen space)
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self._car_space_transform = np.zeros((3, 3))
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self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
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self._transform_dirty = True
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self._clip_region = None
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self._rect = None
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self._exp_gradient = {
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'start': (0.0, 1.0), # Bottom of path
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'end': (0.0, 0.0), # Top of path
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'colors': [],
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'stops': [],
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}
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# Get longitudinal control setting from car parameters
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car_params = Params().get("CarParams")
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if car_params:
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if car_params := Params().get("CarParams"):
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cp = messaging.log_from_bytes(car_params, car.CarParams)
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self._longitudinal_control = cp.openpilotLongitudinalControl
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def set_transform(self, transform: np.ndarray):
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self._car_space_transform = transform
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self._car_space_transform = transform.astype(np.float32)
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self._transform_dirty = True
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def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster):
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@@ -70,161 +88,189 @@ class ModelRenderer:
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rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
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)
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# Update flags based on car state
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# Update state
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self._experimental_mode = sm['selfdriveState'].experimentalMode
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self._path_offset_z = sm['liveCalibration'].height[0]
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if sm.updated['carParams']:
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self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
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# Get model and radar data
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model = sm['modelV2']
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radar_state = sm['radarState'] if sm.valid['radarState'] else None
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lead_one = radar_state.leadOne if radar_state else None
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render_lead_indicator = self._longitudinal_control and radar_state is not None
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# Update model data when needed
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if self._transform_dirty or sm.updated['modelV2'] or sm.updated['radarState']:
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self._update_model(model, lead_one)
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model_updated = sm.updated['modelV2']
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if model_updated or sm.updated['radarState'] or self._transform_dirty:
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if model_updated:
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self._update_raw_points(model)
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pos_x_array = self._path.raw_points[:, 0]
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if pos_x_array.size == 0:
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return
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self._update_model(lead_one, pos_x_array)
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if render_lead_indicator:
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self._update_leads(radar_state, model.position)
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self._update_leads(radar_state, pos_x_array)
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self._transform_dirty = False
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# Draw elements
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self._draw_lane_lines()
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self._draw_path(sm, model, rect.height)
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self._draw_path(sm)
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# Draw lead vehicles if available
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if render_lead_indicator and radar_state:
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lead_two = radar_state.leadTwo
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self._draw_lead_indicator()
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if lead_one and lead_one.status:
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self._draw_lead(lead_one, self._lead_vertices[0], rect)
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def _update_raw_points(self, model):
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"""Update raw 3D points from model data"""
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self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
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if lead_two and lead_two.status and lead_one and (abs(lead_one.dRel - lead_two.dRel) > 3.0):
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self._draw_lead(lead_two, self._lead_vertices[1], rect)
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for i, lane_line in enumerate(model.laneLines):
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self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
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def _update_leads(self, radar_state, line):
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for i, road_edge in enumerate(model.roadEdges):
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self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
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self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
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self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
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self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
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def _update_leads(self, radar_state, pos_x_array):
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"""Update positions of lead vehicles"""
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self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
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leads = [radar_state.leadOne, radar_state.leadTwo]
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for i, lead_data in enumerate(leads):
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if lead_data and lead_data.status:
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d_rel = lead_data.dRel
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y_rel = lead_data.yRel
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idx = self._get_path_length_idx(line, d_rel)
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z = line.z[idx]
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self._lead_vertices[i] = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
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d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
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idx = self._get_path_length_idx(pos_x_array, d_rel)
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z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
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point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
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if point:
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self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
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def _update_model(self, model, lead):
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def _update_model(self, lead, pos_x_array):
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"""Update model visualization data based on model message"""
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model_position = model.position
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max_distance = np.clip(pos_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
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max_idx = self._get_path_length_idx(pos_x_array, max_distance)
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# Determine max distance to render
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max_distance = np.clip(model_position.x[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
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# Update lane lines
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lane_lines = model.laneLines
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line_probs = model.laneLineProbs
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max_idx = self._get_path_length_idx(lane_lines[0], max_distance)
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for i in range(4):
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self._lane_line_probs[i] = line_probs[i]
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self._lane_line_vertices[i] = self._map_line_to_polygon(
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lane_lines[i], 0.025 * self._lane_line_probs[i], 0, max_idx
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# Update lane lines using raw points
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for i, lane_line in enumerate(self._lane_lines):
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lane_line.projected_points = self._map_line_to_polygon(
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lane_line.raw_points, 0.025 * self._lane_line_probs[i], 0.0, max_idx
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)
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# Update road edges
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road_edges = model.roadEdges
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edge_stds = model.roadEdgeStds
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# Update road edges using raw points
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for road_edge in self._road_edges:
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road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx)
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for i in range(2):
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self._road_edge_stds[i] = edge_stds[i]
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self._road_edge_vertices[i] = self._map_line_to_polygon(road_edges[i], 0.025, 0, max_idx)
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# Update path
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# Update path using raw points
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if lead and lead.status:
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lead_d = lead.dRel * 2.0
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max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
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max_idx = self._get_path_length_idx(model_position, max_distance)
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max_idx = self._get_path_length_idx(pos_x_array, max_distance)
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self._track_vertices = self._map_line_to_polygon(model_position, 0.9, self._path_offset_z, max_idx, False)
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self._path.projected_points = self._map_line_to_polygon(
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self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
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)
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self._update_experimental_gradient(self._rect.height)
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def _update_experimental_gradient(self, height):
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"""Pre-calculate experimental mode gradient colors"""
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if not self._experimental_mode:
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return
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max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
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segment_colors = []
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gradient_stops = []
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i = 0
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while i < max_len:
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track_idx = max_len - i - 1 # flip idx to start from bottom right
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track_y = self._path.projected_points[track_idx][1]
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if track_y < 0 or track_y > height:
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i += 1
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continue
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# Calculate color based on acceleration
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lin_grad_point = (height - track_y) / height
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# speed up: 120, slow down: 0
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path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
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path_hue = int(path_hue * 100 + 0.5) / 100
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saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
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lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
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alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
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# Use HSL to RGB conversion
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color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
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gradient_stops.append(lin_grad_point)
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segment_colors.append(color)
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# Skip a point, unless next is last
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i += 1 + (1 if (i + 2) < max_len else 0)
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# Store the gradient in the path object
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self._exp_gradient['colors'] = segment_colors
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self._exp_gradient['stops'] = gradient_stops
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def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
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speed_buff, lead_buff = 10.0, 40.0
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# Calculate fill alpha
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fill_alpha = 0
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if d_rel < lead_buff:
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fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
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if v_rel < 0:
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fill_alpha += 255 * (-1 * (v_rel / speed_buff))
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fill_alpha = min(fill_alpha, 255)
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# Calculate size and position
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sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
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x = np.clip(point[0], 0.0, rect.width - sz / 2)
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y = min(point[1], rect.height - sz * 0.6)
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g_xo = sz / 5
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g_yo = sz / 10
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glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
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chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
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return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha))
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def _draw_lane_lines(self):
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"""Draw lane lines and road edges"""
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for i, vertices in enumerate(self._lane_line_vertices):
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# Skip if no vertices
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if vertices.size == 0:
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for i, lane_line in enumerate(self._lane_lines):
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if lane_line.projected_points.size == 0:
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continue
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# Draw lane line
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alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7)
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color = rl.Color(255, 255, 255, int(alpha * 255))
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draw_polygon(self._rect, vertices, color)
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draw_polygon(self._rect, lane_line.projected_points, color)
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for i, vertices in enumerate(self._road_edge_vertices):
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# Skip if no vertices
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if vertices.size == 0:
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for i, road_edge in enumerate(self._road_edges):
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if road_edge.projected_points.size == 0:
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continue
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# Draw road edge
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alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0)
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color = rl.Color(255, 0, 0, int(alpha * 255))
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draw_polygon(self._rect, vertices, color)
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draw_polygon(self._rect, road_edge.projected_points, color)
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def _draw_path(self, sm, model, height):
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"""Draw the path polygon with gradient based on acceleration"""
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if self._track_vertices.size == 0:
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def _draw_path(self, sm):
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"""Draw path with dynamic coloring based on mode and throttle state."""
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if not self._path.projected_points.size:
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return
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if self._experimental_mode:
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# Draw with acceleration coloring
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acceleration = model.acceleration.x
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max_len = min(len(self._track_vertices) // 2, len(acceleration))
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# Create segments for gradient coloring
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segment_colors = []
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gradient_stops = []
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i = 0
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while i < max_len:
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track_idx = max_len - i - 1 # flip idx to start from bottom right
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track_y = self._track_vertices[track_idx][1]
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if track_y < 0 or track_y > height:
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i += 1
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continue
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# Calculate color based on acceleration
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lin_grad_point = (height - track_y) / height
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# speed up: 120, slow down: 0
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path_hue = max(min(60 + acceleration[i] * 35, 120), 0)
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path_hue = int(path_hue * 100 + 0.5) / 100
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saturation = min(abs(acceleration[i] * 1.5), 1)
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lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
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alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
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# Use HSL to RGB conversion
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color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
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# Create quad segment
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gradient_stops.append(lin_grad_point)
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segment_colors.append(color)
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# Skip a point, unless next is last
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i += 1 + (1 if (i + 2) < max_len else 0)
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if len(segment_colors) < 2:
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draw_polygon(self._rect, self._track_vertices, rl.Color(255, 255, 255, 30))
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return
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# Create gradient specification
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gradient = {
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'start': (0.0, 1.0), # Bottom of path
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'end': (0.0, 0.0), # Top of path
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'colors': segment_colors,
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'stops': gradient_stops,
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}
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draw_polygon(self._rect, self._track_vertices, gradient=gradient)
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if len(self._exp_gradient['colors']) > 2:
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draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
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else:
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draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
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else:
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# Draw with throttle/no throttle gradient
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allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
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@@ -249,46 +295,22 @@ class ModelRenderer:
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'colors': blended_colors,
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'stops': [0.0, 0.5, 1.0],
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}
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draw_polygon(self._rect, self._track_vertices, gradient=gradient)
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draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
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def _draw_lead(self, lead_data, vd, rect):
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"""Draw lead vehicle indicator"""
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if not vd:
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return
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def _draw_lead_indicator(self):
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# Draw lead vehicles if available
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for lead in self._lead_vehicles:
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if not lead.glow or not lead.chevron:
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continue
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speed_buff = 10.0
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lead_buff = 40.0
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d_rel = lead_data.dRel
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v_rel = lead_data.vRel
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# Calculate fill alpha
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fill_alpha = 0
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if d_rel < lead_buff:
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fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
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if v_rel < 0:
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fill_alpha += 255 * (-1 * (v_rel / speed_buff))
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fill_alpha = min(fill_alpha, 255)
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# Calculate size and position
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sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
|
||||
x = np.clip(vd[0], 0.0, rect.width - sz / 2)
|
||||
y = min(vd[1], rect.height - sz * 0.6)
|
||||
|
||||
g_xo = sz / 5
|
||||
g_yo = sz / 10
|
||||
|
||||
# Draw glow
|
||||
glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
|
||||
rl.draw_triangle_fan(glow, len(glow), rl.Color(218, 202, 37, 255))
|
||||
|
||||
# Draw chevron
|
||||
chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
|
||||
rl.draw_triangle_fan(chevron, len(chevron), rl.Color(201, 34, 49, int(fill_alpha)))
|
||||
rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
|
||||
rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
|
||||
|
||||
@staticmethod
|
||||
def _get_path_length_idx(line, path_height):
|
||||
def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
|
||||
"""Get the index corresponding to the given path height"""
|
||||
return bisect.bisect_right(line.x, path_height) - 1
|
||||
idx = np.searchsorted(pos_x_array, path_height, side='right')
|
||||
return int(np.clip(idx - 1, 0, len(pos_x_array) - 1))
|
||||
|
||||
def _map_to_screen(self, in_x, in_y, in_z):
|
||||
"""Project a point in car space to screen space"""
|
||||
@@ -298,43 +320,71 @@ class ModelRenderer:
|
||||
if abs(pt[2]) < 1e-6:
|
||||
return None
|
||||
|
||||
x = pt[0] / pt[2]
|
||||
y = pt[1] / pt[2]
|
||||
x, y = pt[0] / pt[2], pt[1] / pt[2]
|
||||
|
||||
clip = self._clip_region
|
||||
if x < clip.x or x > clip.x + clip.width or y < clip.y or y > clip.y + clip.height:
|
||||
if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
|
||||
return None
|
||||
|
||||
return (x, y)
|
||||
|
||||
def _map_line_to_polygon(self, line, y_off, z_off, max_idx, allow_invert=True)-> np.ndarray:
|
||||
"""Convert a 3D line to a 2D polygon for drawing"""
|
||||
line_x = line.x
|
||||
line_y = line.y
|
||||
line_z = line.z
|
||||
def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
|
||||
"""Convert 3D line to 2D polygon for rendering."""
|
||||
if line.shape[0] == 0:
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
|
||||
points: list = []
|
||||
# Slice points and filter non-negative x-coordinates
|
||||
points = line[:max_idx + 1][line[:max_idx + 1, 0] >= 0]
|
||||
if points.shape[0] == 0:
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
|
||||
for i in range(max_idx + 1):
|
||||
# Skip points with negative x (behind camera)
|
||||
if line_x[i] < 0:
|
||||
continue
|
||||
# Create left and right 3D points in one array
|
||||
n_points = points.shape[0]
|
||||
points_3d = np.empty((n_points * 2, 3), dtype=np.float32)
|
||||
points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
|
||||
points_3d[:n_points, 1] = points[:, 1] - y_off
|
||||
points_3d[n_points:, 1] = points[:, 1] + y_off
|
||||
points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
|
||||
|
||||
left = self._map_to_screen(line_x[i], line_y[i] - y_off, line_z[i] + z_off)
|
||||
right = self._map_to_screen(line_x[i], line_y[i] + y_off, line_z[i] + z_off)
|
||||
# Single matrix multiplication for projections
|
||||
proj = self._car_space_transform @ points_3d.T
|
||||
valid_z = np.abs(proj[2]) > 1e-6
|
||||
if not np.any(valid_z):
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
|
||||
if left and right:
|
||||
# Check for inversion when going over hills
|
||||
if not allow_invert and points and left[1] > points[-1][1]:
|
||||
continue
|
||||
# Compute screen coordinates
|
||||
screen = proj[:2, valid_z] / proj[2, valid_z][None, :]
|
||||
left_screen = screen[:, :n_points].T
|
||||
right_screen = screen[:, n_points:].T
|
||||
|
||||
points.append(left)
|
||||
points.insert(0, right)
|
||||
# Ensure consistent shapes by re-aligning valid points
|
||||
valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0])
|
||||
if valid_points == 0:
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
left_screen = left_screen[:valid_points]
|
||||
right_screen = right_screen[:valid_points]
|
||||
|
||||
if not points:
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
if self._clip_region:
|
||||
clip = self._clip_region
|
||||
bounds_mask = (
|
||||
(left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
|
||||
(left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
|
||||
(right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
|
||||
(right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
|
||||
)
|
||||
if not np.any(bounds_mask):
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
left_screen = left_screen[bounds_mask]
|
||||
right_screen = right_screen[bounds_mask]
|
||||
|
||||
return np.array(points, dtype=np.float32)
|
||||
if not allow_invert and left_screen.shape[0] > 1:
|
||||
keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
|
||||
left_screen = left_screen[keep]
|
||||
right_screen = right_screen[keep]
|
||||
if left_screen.shape[0] == 0:
|
||||
return np.empty((0, 2), dtype=np.float32)
|
||||
|
||||
return np.vstack((left_screen, right_screen[::-1])).astype(np.float32)
|
||||
|
||||
@staticmethod
|
||||
def _map_val(x, x0, x1, y0, y1):
|
||||
@@ -345,17 +395,8 @@ class ModelRenderer:
|
||||
|
||||
@staticmethod
|
||||
def _hsla_to_color(h, s, l, a):
|
||||
"""Convert HSLA color to Raylib Color using colorsys module"""
|
||||
# colorsys uses HLS format (Hue, Lightness, Saturation)
|
||||
r, g, b = colorsys.hls_to_rgb(h, l, s)
|
||||
|
||||
# Ensure values are in valid range
|
||||
r_val = max(0, min(255, int(r * 255)))
|
||||
g_val = max(0, min(255, int(g * 255)))
|
||||
b_val = max(0, min(255, int(b * 255)))
|
||||
a_val = max(0, min(255, int(a * 255)))
|
||||
|
||||
return rl.Color(r_val, g_val, b_val, a_val)
|
||||
r, g, b = [max(0, min(255, int(v * 255))) for v in colorsys.hls_to_rgb(h, l, s)]
|
||||
return rl.Color(r, g, b, max(0, min(255, int(a * 255))))
|
||||
|
||||
@staticmethod
|
||||
def _blend_colors(begin_colors, end_colors, t):
|
||||
|
||||
Reference in New Issue
Block a user