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Revert "system/ui/: add face detection box and driver state icon to DriverCameraView" (#35403)

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Revert "system/ui/: add face detection box and driver state icon to DriverCam…"

This reverts commit 5e4a4ecec8.
This commit is contained in:
Maxime Desroches
2025-05-30 23:43:28 -07:00
committed by GitHub
parent 5e4a4ecec8
commit 62a7a19d27
1 changed files with 4 additions and 52 deletions
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system/ui/widgets/driver_camera_view.py
+4 -52
View File
@@ -1,63 +1,18 @@
import numpy as np
import pyray as rl
from cereal import messaging
from openpilot.system.ui.widgets.cameraview import CameraView
from msgq.visionipc import VisionStreamType
from openpilot.system.ui.lib.application import gui_app, FontWeight
from openpilot.system.ui.lib.label import gui_label
from openpilot.system.ui.onroad.driver_state import DriverStateRenderer
from openpilot.system.ui.lib.application import gui_app
class DriverCameraView(CameraView):
def __init__(self, stream_type: VisionStreamType):
super().__init__("camerad", stream_type)
self.driver_state_renderer = DriverStateRenderer()
def render(self, rect, sm):
def render(self, rect):
super().render(rect)
if not self.frame:
gui_label(
rect,
"camera starting",
font_size=100,
font_weight=FontWeight.BOLD,
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
)
return
self._draw_face_detection(rect, sm)
self.driver_state_renderer.draw(rect, sm)
def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None:
driver_state = sm["driverStateV2"]
is_rhd = driver_state.wheelOnRightProb > 0.5
driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
face_detect = driver_data.faceProb > 0.7
if not face_detect:
return
# Get face position and orientation
face_x, face_y = driver_data.facePosition
face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
alpha = 0.7
if face_std > 0.15:
alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0)
# use approx instead of distort_points
# TODO: replace with distort_points
fbox_x = int(1080.0 - 1714.0 * face_x)
fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y)
box_size = 220
line_color = rl.Color(255, 255, 255, int(alpha * 255))
rl.draw_rectangle_rounded_lines_ex(
rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size),
35.0 / box_size / 2,
10,
10,
line_color,
)
# TODO: Add additional rendering logic
def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
driver_view_ratio = 2.0
@@ -83,12 +38,9 @@ class DriverCameraView(CameraView):
if __name__ == "__main__":
gui_app.init_window("Driver Camera View")
sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"])
driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
try:
for _ in gui_app.render():
sm.update()
driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm)
driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
finally:
driver_camera_view.close()