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fullframe DM model (#24860)

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* Revert "put cereal on master"

This reverts commit 4646c132bae7358079c9b2867725f8382906c1e5.

* Revert "Revert fullframe DM model (#24812)"

This reverts commit 59e8af4c3101785cead69a9880cc03e0a18081e1.

* revert revert cereal

* clip6

* 0.8 is fair

* Fiction compensation should be based on error

* Update refs

* Add deadzone

* not that

* good mg

* ref

* ref

* ee8f

* minor tweak

* ref

* recompile

* ref

* cereal

* match driverstatus

* new ref

* new ref

* pass token through jenkins credentials

* quote

* fix snpe dead weights

* final ref

Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 1f2f9ea9c9dc37bdea9c6e32e4cb8f88ea0a34bf
This commit is contained in:
ZwX1616
2022-06-20 16:24:51 -07:00
committed by GitHub
parent 387314217b
commit cd2a98aa11
24 changed files with 230 additions and 309 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/offroad/driverview.cc
+18 -25
View File
@@ -25,7 +25,7 @@ void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
emit done();
}
DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverState"}), QWidget(parent) {
DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
}
@@ -57,43 +57,36 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
return;
}
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()};
cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
cereal::DriverStateV2::DriverData::Reader driver_data;
// 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
// is_rhd = driver_state.getWheelOnRightProb() > 0.5;
driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
// face bounding box
cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
bool face_detected = driver_state.getFaceProb() > 0.5;
bool face_detected = driver_data.getFaceProb() > 0.7;
if (face_detected) {
auto fxy_list = driver_state.getFacePosition();
auto std_list = driver_state.getFaceOrientationStd();
auto fxy_list = driver_data.getFacePosition();
auto std_list = driver_data.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 > 0.08) {
alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
if (face_std > 0.15) {
alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
}
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();
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;
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 = 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);
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);
p.drawPixmap(img_x, img_y, face_img);
}
selfdrive/ui/qt/widgets/cameraview.cc
+4 -5
View File
@@ -67,16 +67,15 @@ 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 = 1.333;
const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
const float driver_view_ratio = 2.0;
const float yscale = stream_height * driver_view_ratio / stream_width;
const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
mat4 transform = (mat4){{
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,
xscale, 0.0, 0.0, 0.0,
0.0, yscale, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
return transform;
}