mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-11 20:32:13 +08:00
Shane Smiskol
9b2f7341d8
* fix multilang dialog height * split to file * stash * Revert "stash" This reverts commit deb4239fe69f0260420fad03f2350e622e31542f. * add updater * add files * stuff * try rev * stash * works! * works! * this should be the flow? * cursor wrapping -- it missed entire sections, changed formatting, and didn't use trn properly!!!!!!!!!!!!!!!!! * update translations * learned my lesson * this should be the one thing it's good at * update trans * onroad wrap * spanish * rename * clean up * load all * Revert "load all" This reverts commit 6f2a45861c914ffb9d40a5edd15751afd798d614. * jp translations * try jp * Revert "try jp" This reverts commit d0524b10110104baafcdc1ec385c3d57bc5ef901. * remove languages we can't add rn * tr * pt and fr * ai cannot be trusted * ai cannot be trusted * missing trans * add fonts * Revert "remove languages we can't add rn" This reverts commit 73dc75fae2b9e347d867b6636dab6e2b5fe59da7. * painfully slow to startup * only load what we need * Reapply "remove languages we can't add rn" This reverts commit 52cb48f3b838520a421f9b90e5ea4409c27d4bd0. * stash! * rm * Revert "stash!" This reverts commit 31d7c361079a8e57039a0117c81d59bf84f191c7. * revert this * revert that * make this dynamic! * device * revert * firehose * stuff * revert application * back * full revert * clean up * network * more system * fix dat * fixy
108 lines
3.4 KiB
Python
108 lines
3.4 KiB
Python
import numpy as np
|
|
import pyray as rl
|
|
from msgq.visionipc import VisionStreamType
|
|
from openpilot.selfdrive.ui.onroad.cameraview import CameraView
|
|
from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
|
|
from openpilot.selfdrive.ui.ui_state import ui_state, device
|
|
from openpilot.system.ui.lib.application import gui_app, FontWeight
|
|
from openpilot.system.ui.lib.multilang import tr
|
|
from openpilot.system.ui.widgets.label import gui_label
|
|
|
|
|
|
class DriverCameraDialog(CameraView):
|
|
def __init__(self):
|
|
super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
|
|
self.driver_state_renderer = DriverStateRenderer()
|
|
# TODO: this can grow unbounded, should be given some thought
|
|
device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
|
|
ui_state.params.put_bool("IsDriverViewEnabled", True)
|
|
|
|
def stop_dmonitoringmodeld(self):
|
|
ui_state.params.put_bool("IsDriverViewEnabled", False)
|
|
gui_app.set_modal_overlay(None)
|
|
|
|
def _handle_mouse_release(self, _):
|
|
super()._handle_mouse_release(_)
|
|
self.stop_dmonitoringmodeld()
|
|
|
|
def _render(self, rect):
|
|
super()._render(rect)
|
|
|
|
if not self.frame:
|
|
gui_label(
|
|
rect,
|
|
tr("camera starting"),
|
|
font_size=100,
|
|
font_weight=FontWeight.BOLD,
|
|
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
|
|
)
|
|
return -1
|
|
|
|
self._draw_face_detection(rect)
|
|
self.driver_state_renderer.render(rect)
|
|
|
|
return -1
|
|
|
|
def _draw_face_detection(self, rect: rl.Rectangle) -> None:
|
|
driver_state = ui_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,
|
|
)
|
|
|
|
def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
|
|
driver_view_ratio = 2.0
|
|
|
|
# Get stream dimensions
|
|
if self.frame:
|
|
stream_width = self.frame.width
|
|
stream_height = self.frame.height
|
|
else:
|
|
# Default values if frame not available
|
|
stream_width = 1928
|
|
stream_height = 1208
|
|
|
|
yscale = stream_height * driver_view_ratio / stream_width
|
|
xscale = yscale * rect.height / rect.width * stream_width / stream_height
|
|
|
|
return np.array([
|
|
[xscale, 0.0, 0.0],
|
|
[0.0, yscale, 0.0],
|
|
[0.0, 0.0, 1.0]
|
|
])
|
|
|
|
|
|
if __name__ == "__main__":
|
|
gui_app.init_window("Driver Camera View")
|
|
|
|
driver_camera_view = DriverCameraDialog()
|
|
try:
|
|
for _ in gui_app.render():
|
|
ui_state.update()
|
|
driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
|
finally:
|
|
driver_camera_view.close()
|