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UI: refactor transform (#19658)

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* refactor transform

* always draw chevron if there is a lead

* remove nvgSave&nvgRestore

* keep one point outside the screen

* zoom chevron

* more size

* still use margin

* still use margin
old-commit-hash: cc2d62a938349c2caea68510434f25aa368414d4
This commit is contained in:
Dean Lee
2021-01-15 18:41:20 +08:00
committed by GitHub
parent a6e3036aea
commit 3c9142a709
2 changed files with 23 additions and 19 deletions
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selfdrive/ui/paint.cc
+22 -19
View File
@@ -48,9 +48,10 @@ bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_
const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
// Project.
out->x = KEp.v[0] / KEp.v[2];
out->y = KEp.v[1] / KEp.v[2];
float x = KEp.v[0] / KEp.v[2];
float y = KEp.v[1] / KEp.v[2];
nvgTransformPoint(&out->x, &out->y, s->car_space_transform, x, y);
return out->x >= -margin && out->x <= s->fb_w + margin && out->y >= -margin && out->y <= s->fb_h + margin;
}
@@ -64,11 +65,13 @@ static void ui_draw_text(NVGcontext *vg, float x, float y, const char* string, f
static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
NVGcolor fillColor, NVGcolor glowColor) {
vertex_data out;
if (!car_space_to_full_frame(s, x_in, y_in, 0.0, &out)) return;
vertex_data out = {};
car_space_to_full_frame(s, x_in, y_in, 0.0, &out);
auto [x, y] = out;
sz = std::clamp((sz * 30) / (x_in / 3 + 30), 15.0f, 30.0f);
sz = std::clamp((sz * 30) / (x_in / 3 + 30), 15.0f, 30.0f) * zoom;
y = std::fmin(s->scene.viz_rect.bottom() - sz * .6, y);
x = std::clamp(x, 0.f, s->scene.viz_rect.right() - sz / 2);
// glow
float g_xo = sz/5;
@@ -194,22 +197,9 @@ static void ui_draw_vision_lane_lines(UIState *s) {
// Draw all world space objects.
static void ui_draw_world(UIState *s) {
const UIScene *scene = &s->scene;
nvgSave(s->vg);
// Don't draw on top of sidebar
nvgScissor(s->vg, scene->viz_rect.x, scene->viz_rect.y, scene->viz_rect.w, scene->viz_rect.h);
// Apply transformation such that video pixel coordinates match video
// 1) Put (0, 0) in the middle of the video
nvgTranslate(s->vg, s->video_rect.x + s->video_rect.w / 2, s->video_rect.y + s->video_rect.h / 2 + y_offset);
// 2) Apply same scaling as video
nvgScale(s->vg, zoom, zoom);
// 3) Put (0, 0) in top left corner of video
nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
// Draw lane edges and vision/mpc tracks
ui_draw_vision_lane_lines(s);
@@ -222,7 +212,7 @@ static void ui_draw_world(UIState *s) {
draw_lead(s, scene->lead_data[1]);
}
}
nvgRestore(s->vg);
nvgResetScissor(s->vg);
}
static void ui_draw_vision_maxspeed(UIState *s) {
@@ -631,4 +621,17 @@ void ui_nvg_init(UIState *s) {
s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
s->rear_frame_mat = matmul(device_transform, frame_transform);
// Apply transformation such that video pixel coordinates match video
// 1) Put (0, 0) in the middle of the video
nvgTranslate(s->vg, s->video_rect.x + s->video_rect.w / 2, s->video_rect.y + s->video_rect.h / 2 + y_offset);
// 2) Apply same scaling as video
nvgScale(s->vg, zoom, zoom);
// 3) Put (0, 0) in top left corner of video
nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
nvgCurrentTransform(s->vg, s->car_space_transform);
nvgResetTransform(s->vg);
}
selfdrive/ui/ui.hpp
+1
View File
@@ -189,6 +189,7 @@ typedef struct UIState {
uint64_t started_frame;
Rect video_rect;
float car_space_transform[6];
} UIState;
void ui_init(UIState *s);