ui: replace nvg transfrom with QTransform (#21968)

old-commit-hash: c35ae999276a8f0385f5e20af06eae9f72c56971

selfdrive/ui/paint.cc

@@ -302,12 +302,10 @@ void ui_resize(UIState *s, int width, int height) {
 
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
-  nvgTranslate(s->vg, width / 2, height / 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);
+  s->car_space_transform.reset();
+  s->car_space_transform.translate(width / 2, height / 2 + y_offset)
+      .scale(zoom, zoom)
+      .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }

selfdrive/ui/ui.cc

@@ -19,16 +19,20 @@
 // image space.
 static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out) {
   const float margin = 500.0f;
+  const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin};
+
   const vec3 pt = (vec3){{in_x, in_y, in_z}};
   const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt);
   const vec3 KEp = matvecmul3(s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);
 
   // Project.
-  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;
+  QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});
+  if (clip_region.contains(point)) {
+    out->x = point.x();
+    out->y = point.y();
+    return true;
+  }
+  return false;
 }
 
 static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {

selfdrive/ui/ui.h

@@ -7,7 +7,7 @@
 #include <QObject>
 #include <QTimer>
 #include <QColor>
-
+#include <QTransform>
 #include "nanovg.h"
 
 #include "cereal/messaging/messaging.h"
@@ -146,7 +146,7 @@ typedef struct UIState {
   bool awake;
   bool has_prime = false;
 
-  float car_space_transform[6];
+  QTransform car_space_transform;
   bool wide_camera;
   
   float running_time;