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Rename RGB vision streams to match YUV streams (#23961)

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* Renaming VISION_STREAM_RGB_.. to match yuv names like VISION_STREAM_ROAD
VISION_STREAM_RGB_BACK -> VISION_STREAM_RGB_ROAD
VISION_STREAM_RGB_FRONT -> VISION_STREAM_RGB_DRIVER

* little more

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 57b6fdc17a1f84ec922647c044da5df3cafc0ddc
This commit is contained in:
Gijs Koning
2022-03-14 22:03:54 +01:00
committed by GitHub
parent f0ece255b4
commit cedd8abc05
14 changed files with 30 additions and 30 deletions
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selfdrive/ui/qt/offroad/driverview.cc
+1 -1
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@@ -12,7 +12,7 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
layout = new QStackedLayout(this);
layout->setStackingMode(QStackedLayout::StackAll);
cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_FRONT, true, this);
cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, true, this);
layout->addWidget(cameraView);
scene = new DriverViewScene(this);
selfdrive/ui/qt/onroad.cc
+2 -2
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@@ -20,7 +20,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
QStackedLayout *road_view_layout = new QStackedLayout;
road_view_layout->setStackingMode(QStackedLayout::StackAll);
nvg = new NvgWindow(VISION_STREAM_RGB_BACK, this);
nvg = new NvgWindow(VISION_STREAM_RGB_ROAD, this);
road_view_layout->addWidget(nvg);
hud = new OnroadHud(this);
road_view_layout->addWidget(hud);
@@ -97,7 +97,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
// update stream type
bool wide_cam = Hardware::TICI() && Params().getBool("EnableWideCamera");
nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK);
nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE_ROAD : VISION_STREAM_RGB_ROAD);
}
void OnroadWindow::paintEvent(QPaintEvent *event) {
selfdrive/ui/qt/widgets/cameraview.cc
+4 -4
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@@ -123,7 +123,7 @@ void CameraViewWidget::initializeGL() {
GLint frame_pos_loc = program->attributeLocation("aPosition");
GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_FRONT ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
const float frame_coords[4][4] = {
{-1.0, -1.0, x2, y1}, // bl
@@ -171,12 +171,12 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
void CameraViewWidget::updateFrameMat(int w, int h) {
if (zoomed_view) {
if (stream_type == VISION_STREAM_RGB_FRONT) {
if (stream_type == VISION_STREAM_RGB_DRIVER) {
frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
} else {
auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
float zoom = ZOOM / intrinsic_matrix.v[0];
if (stream_type == VISION_STREAM_RGB_WIDE) {
if (stream_type == VISION_STREAM_RGB_WIDE_ROAD) {
zoom *= 0.5;
}
float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
selfdrive/ui/replay/camera.h
+3 -3
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@@ -32,9 +32,9 @@ protected:
void cameraThread(Camera &cam);
Camera cameras_[MAX_CAMERAS] = {
{.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_ROAD},
{.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_DRIVER},
{.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_WIDE_ROAD},
{.type = RoadCam, .rgb_type = VISION_STREAM_RGB_ROAD, .yuv_type = VISION_STREAM_ROAD},
{.type = DriverCam, .rgb_type = VISION_STREAM_RGB_DRIVER, .yuv_type = VISION_STREAM_DRIVER},
{.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE_ROAD, .yuv_type = VISION_STREAM_WIDE_ROAD},
};
std::atomic<int> publishing_ = 0;
std::unique_ptr<VisionIpcServer> vipc_server_;
selfdrive/ui/watch3.cc
+3 -3
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@@ -20,14 +20,14 @@ int main(int argc, char *argv[]) {
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_RGB_MAP, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_BACK, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_ROAD, false));
}
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_FRONT, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, false));
hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE_ROAD, false));
}
return a.exec();