mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-05 05:22:07 +08:00
Dean Lee
6c28575573
* Add GPU-accelerated polygon rendering with anti-aliased edges and gradient support * use np array * update ModelRenderer * ndarray * cleanup * improve shader * Revert "improve shader" This reverts commit 992247617a9947bceb365f7b056fed6ebed3793d. * improve shader for smoother edges
378 lines
13 KiB
Python
378 lines
13 KiB
Python
import colorsys
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import bisect
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import numpy as np
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import pyray as rl
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from cereal import messaging, car
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from openpilot.common.params import Params
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from openpilot.system.ui.lib.shader_polygon import draw_polygon
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CLIP_MARGIN = 500
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MIN_DRAW_DISTANCE = 10.0
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MAX_DRAW_DISTANCE = 100.0
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THROTTLE_COLORS = [
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rl.Color(0, 231, 130, 102), # Green with alpha 0.4
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rl.Color(112, 247, 35, 89), # Lime with alpha 0.35
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rl.Color(112, 247, 35, 0), # Transparent lime
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]
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NO_THROTTLE_COLORS = [
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rl.Color(242, 242, 242, 102), # Light gray with alpha 0.4
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rl.Color(242, 242, 242, 89), # Light gray with alpha 0.35
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rl.Color(242, 242, 242, 0), # Transparent light gray
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]
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class ModelRenderer:
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def __init__(self):
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self._longitudinal_control = False
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self._experimental_mode = False
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self._blend_factor = 1.0
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self._prev_allow_throttle = True
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self._lane_line_probs = np.zeros(4, dtype=np.float32)
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self._road_edge_stds = np.zeros(2, dtype=np.float32)
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self._path_offset_z = 1.22
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# Initialize empty polygon vertices
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self._track_vertices = np.empty((0, 2), dtype=np.float32)
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self._lane_line_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(4)]
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self._road_edge_vertices = [np.empty((0, 2), dtype=np.float32) for _ in range(2)]
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self._lead_vertices = [None, None]
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# Transform matrix (3x3 for car space to screen space)
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self._car_space_transform = np.zeros((3, 3))
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self._transform_dirty = True
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self._clip_region = None
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# Get longitudinal control setting from car parameters
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car_params = Params().get("CarParams")
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if car_params:
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cp = messaging.log_from_bytes(car_params, car.CarParams)
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self._longitudinal_control = cp.openpilotLongitudinalControl
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def set_transform(self, transform: np.ndarray):
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self._car_space_transform = transform
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self._transform_dirty = True
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def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster):
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# Check if data is up-to-date
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if not sm.valid['modelV2'] or not sm.valid['liveCalibration']:
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return
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# Set up clipping region
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self._clip_region = rl.Rectangle(
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rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
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)
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# Update flags based on car state
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self._experimental_mode = sm['selfdriveState'].experimentalMode
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self._path_offset_z = sm['liveCalibration'].height[0]
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if sm.updated['carParams']:
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self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
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# Get model and radar data
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model = sm['modelV2']
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radar_state = sm['radarState'] if sm.valid['radarState'] else None
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lead_one = radar_state.leadOne if radar_state else None
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render_lead_indicator = self._longitudinal_control and radar_state is not None
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# Update model data when needed
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if self._transform_dirty or sm.updated['modelV2'] or sm.updated['radarState']:
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self._update_model(model, lead_one)
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if render_lead_indicator:
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self._update_leads(radar_state, model.position)
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self._transform_dirty = False
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# Draw elements
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self._draw_lane_lines()
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self._draw_path(sm, model, rect.height)
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# Draw lead vehicles if available
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if render_lead_indicator and radar_state:
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lead_two = radar_state.leadTwo
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if lead_one and lead_one.status:
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self._draw_lead(lead_one, self._lead_vertices[0], rect)
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if lead_two and lead_two.status and lead_one and (abs(lead_one.dRel - lead_two.dRel) > 3.0):
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self._draw_lead(lead_two, self._lead_vertices[1], rect)
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def _update_leads(self, radar_state, line):
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"""Update positions of lead vehicles"""
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leads = [radar_state.leadOne, radar_state.leadTwo]
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for i, lead_data in enumerate(leads):
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if lead_data and lead_data.status:
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d_rel = lead_data.dRel
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y_rel = lead_data.yRel
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idx = self._get_path_length_idx(line, d_rel)
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z = line.z[idx]
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self._lead_vertices[i] = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
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def _update_model(self, model, lead):
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"""Update model visualization data based on model message"""
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model_position = model.position
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# Determine max distance to render
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max_distance = np.clip(model_position.x[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
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# Update lane lines
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lane_lines = model.laneLines
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line_probs = model.laneLineProbs
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max_idx = self._get_path_length_idx(lane_lines[0], max_distance)
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for i in range(4):
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self._lane_line_probs[i] = line_probs[i]
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self._lane_line_vertices[i] = self._map_line_to_polygon(
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lane_lines[i], 0.025 * self._lane_line_probs[i], 0, max_idx
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)
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# Update road edges
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road_edges = model.roadEdges
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edge_stds = model.roadEdgeStds
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for i in range(2):
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self._road_edge_stds[i] = edge_stds[i]
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self._road_edge_vertices[i] = self._map_line_to_polygon(road_edges[i], 0.025, 0, max_idx)
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# Update path
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if lead and lead.status:
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lead_d = lead.dRel * 2.0
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max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
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max_idx = self._get_path_length_idx(model_position, max_distance)
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self._track_vertices = self._map_line_to_polygon(model_position, 0.9, self._path_offset_z, max_idx, False)
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def _draw_lane_lines(self):
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"""Draw lane lines and road edges"""
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for i, vertices in enumerate(self._lane_line_vertices):
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# Skip if no vertices
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if vertices.size == 0:
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continue
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# Draw lane line
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alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7)
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color = rl.Color(255, 255, 255, int(alpha * 255))
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draw_polygon(vertices, color)
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for i, vertices in enumerate(self._road_edge_vertices):
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# Skip if no vertices
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if vertices.size == 0:
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continue
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# Draw road edge
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alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0)
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color = rl.Color(255, 0, 0, int(alpha * 255))
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draw_polygon(vertices, color)
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def _draw_path(self, sm, model, height):
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"""Draw the path polygon with gradient based on acceleration"""
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if self._track_vertices.size == 0:
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return
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if self._experimental_mode:
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# Draw with acceleration coloring
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acceleration = model.acceleration.x
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max_len = min(len(self._track_vertices) // 2, len(acceleration))
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# Find midpoint index for polygon
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mid_point = len(self._track_vertices) // 2
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# For acceleration-based coloring, process segments separately
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left_side = self._track_vertices[:mid_point]
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right_side = self._track_vertices[mid_point:][::-1] # Reverse for proper winding
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# Create segments for gradient coloring
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segment_colors = []
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gradient_stops = []
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for i in range(max_len - 1):
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if i >= len(left_side) - 1 or i >= len(right_side) - 1:
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break
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track_idx = max_len - i - 1 # flip idx to start from bottom right
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# Skip points out of frame
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if left_side[track_idx][1] < 0 or left_side[track_idx][1] > height:
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continue
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# Calculate color based on acceleration
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lin_grad_point = (height - left_side[track_idx][1]) / height
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# speed up: 120, slow down: 0
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path_hue = max(min(60 + acceleration[i] * 35, 120), 0)
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path_hue = int(path_hue * 100 + 0.5) / 100
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saturation = min(abs(acceleration[i] * 1.5), 1)
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lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
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alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
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# Use HSL to RGB conversion
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color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
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# Create quad segment
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gradient_stops.append(lin_grad_point)
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segment_colors.append(color)
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if len(segment_colors) < 2:
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draw_polygon(self._track_vertices, rl.Color(255, 255, 255, 30))
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return
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# Create gradient specification
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gradient = {
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'start': (0.0, 1.0), # Bottom of path
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'end': (0.0, 0.0), # Top of path
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'colors': segment_colors,
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'stops': gradient_stops,
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}
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draw_polygon(self._track_vertices, gradient=gradient)
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else:
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# Draw with throttle/no throttle gradient
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allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
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# Start transition if throttle state changes
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if allow_throttle != self._prev_allow_throttle:
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self._prev_allow_throttle = allow_throttle
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self._blend_factor = max(1.0 - self._blend_factor, 0.0)
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# Update blend factor
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if self._blend_factor < 1.0:
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self._blend_factor = min(self._blend_factor + 0.1, 1.0)
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begin_colors = NO_THROTTLE_COLORS if allow_throttle else THROTTLE_COLORS
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end_colors = THROTTLE_COLORS if allow_throttle else NO_THROTTLE_COLORS
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# Blend colors based on transition
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colors = [
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self._blend_colors(begin_colors[0], end_colors[0], self._blend_factor),
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self._blend_colors(begin_colors[1], end_colors[1], self._blend_factor),
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self._blend_colors(begin_colors[2], end_colors[2], self._blend_factor),
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]
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gradient = {
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'start': (0.0, 1.0), # Bottom of path
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'end': (0.0, 0.0), # Top of path
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'colors': colors,
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'stops': [0.0, 1.0],
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}
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draw_polygon(self._track_vertices, gradient=gradient)
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def _draw_lead(self, lead_data, vd, rect):
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"""Draw lead vehicle indicator"""
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if not vd:
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return
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speed_buff = 10.0
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lead_buff = 40.0
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d_rel = lead_data.dRel
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v_rel = lead_data.vRel
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# Calculate fill alpha
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fill_alpha = 0
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if d_rel < lead_buff:
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fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
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if v_rel < 0:
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fill_alpha += 255 * (-1 * (v_rel / speed_buff))
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fill_alpha = min(fill_alpha, 255)
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# Calculate size and position
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sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
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x = np.clip(vd[0], 0.0, rect.width - sz / 2)
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y = min(vd[1], rect.height - sz * 0.6)
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g_xo = sz / 5
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g_yo = sz / 10
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# Draw glow
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glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
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rl.draw_triangle_fan(glow, len(glow), rl.Color(218, 202, 37, 255))
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# Draw chevron
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chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
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rl.draw_triangle_fan(chevron, len(chevron), rl.Color(201, 34, 49, int(fill_alpha)))
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@staticmethod
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def _get_path_length_idx(line, path_height):
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"""Get the index corresponding to the given path height"""
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return bisect.bisect_right(line.x, path_height) - 1
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def _map_to_screen(self, in_x, in_y, in_z):
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"""Project a point in car space to screen space"""
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input_pt = np.array([in_x, in_y, in_z])
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pt = self._car_space_transform @ input_pt
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if abs(pt[2]) < 1e-6:
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return None
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x = pt[0] / pt[2]
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y = pt[1] / pt[2]
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clip = self._clip_region
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if x < clip.x or x > clip.x + clip.width or y < clip.y or y > clip.y + clip.height:
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return None
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return (x, y)
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def _map_line_to_polygon(self, line, y_off, z_off, max_idx, allow_invert=True)-> np.ndarray:
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"""Convert a 3D line to a 2D polygon for drawing"""
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line_x = line.x
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line_y = line.y
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line_z = line.z
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left_points: list[tuple[float, float]] = []
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right_points: list[tuple[float, float]] = []
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for i in range(max_idx + 1):
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# Skip points with negative x (behind camera)
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if line_x[i] < 0:
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continue
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left = self._map_to_screen(line_x[i], line_y[i] - y_off, line_z[i] + z_off)
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right = self._map_to_screen(line_x[i], line_y[i] + y_off, line_z[i] + z_off)
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if left and right:
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# Check for inversion when going over hills
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if not allow_invert and left_points and left[1] > left_points[-1][1]:
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continue
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left_points.append(left)
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right_points.append(right)
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if not left_points or not right_points:
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return np.empty((0, 2), dtype=np.float32)
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return np.array(left_points + right_points[::-1], dtype=np.float32)
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@staticmethod
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def _map_val(x, x0, x1, y0, y1):
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"""Map value x from range [x0, x1] to range [y0, y1]"""
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return y0 + (y1 - y0) * ((x - x0) / (x1 - x0)) if x1 != x0 else y0
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@staticmethod
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def _hsla_to_color(h, s, l, a):
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"""Convert HSLA color to Raylib Color using colorsys module"""
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# colorsys uses HLS format (Hue, Lightness, Saturation)
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r, g, b = colorsys.hls_to_rgb(h, l, s)
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# Ensure values are in valid range
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r_val = max(0, min(255, int(r * 255)))
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g_val = max(0, min(255, int(g * 255)))
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b_val = max(0, min(255, int(b * 255)))
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a_val = max(0, min(255, int(a * 255)))
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return rl.Color(r_val, g_val, b_val, a_val)
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@staticmethod
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def _blend_colors(start, end, t):
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"""Blend between two colors with factor t"""
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if t >= 1.0:
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return end
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return rl.Color(
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int((1 - t) * start.r + t * end.r),
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int((1 - t) * start.g + t * end.g),
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int((1 - t) * start.b + t * end.b),
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int((1 - t) * start.a + t * end.a),
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)
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