mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-21 14:02:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

tici driverview support (#20223)

Browse Source 
* add tici support and clean up

* not exactly 4/3

* keep c2 style

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616
2021-03-02 19:42:45 -08:00
committed by GitHub
parent 4c84a33d01
commit 2a9e775bb9
1 changed files with 34 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/paint.cc
+34 -12
View File
@@ -263,19 +263,22 @@ static void ui_draw_vision_face(UIState *s) {
static void ui_draw_driver_view(UIState *s) {
s->sidebar_collapsed = true;
const bool is_rhd = s->scene.is_rhd;
const int width = 3 * s->viz_rect.w / 4;
const int width = 4 * s->viz_rect.h / 3;
const Rect rect = {s->viz_rect.centerX() - width / 2, s->viz_rect.y, width, s->viz_rect.h}; // x, y, w, h
const Rect valid_rect = {is_rhd ? rect.right() - rect.h / 2 : rect.x, rect.y, rect.h / 2, rect.h};
// blackout
const int blackout_x = is_rhd ? rect.x : valid_rect.right();
const int blackout_w = rect.w - valid_rect.w;
NVGpaint gradient = nvgLinearGradient(s->vg, blackout_x, rect.y, blackout_x + blackout_w, rect.y,
COLOR_BLACK_ALPHA(is_rhd ? 255 : 0), COLOR_BLACK_ALPHA(is_rhd ? 0 : 255));
ui_fill_rect(s->vg, {blackout_x, rect.y, blackout_w, rect.h}, gradient);
ui_fill_rect(s->vg, {blackout_x, rect.y, blackout_w, rect.h}, COLOR_BLACK_ALPHA(144));
// border
ui_draw_rect(s->vg, rect, bg_colors[STATUS_OFFROAD], 1);
const int blackout_x_r = valid_rect.right();
#ifndef QCOM2
const int blackout_w_r = rect.right() - valid_rect.right();
const int blackout_x_l = rect.x;
#else
const int blackout_w_r = s->viz_rect.right() - valid_rect.right();
const int blackout_x_l = s->viz_rect.x;
#endif
const int blackout_w_l = valid_rect.x - blackout_x_l;
ui_fill_rect(s->vg, {blackout_x_l, rect.y, blackout_w_l, rect.h}, COLOR_BLACK_ALPHA(144));
ui_fill_rect(s->vg, {blackout_x_r, rect.y, blackout_w_r, rect.h}, COLOR_BLACK_ALPHA(144));
const bool face_detected = s->scene.driver_state.getFaceProb() > 0.4;
if (face_detected) {
@@ -494,13 +497,32 @@ static const mat4 device_transform = {{
0.0, 0.0, 0.0, 1.0,
}};
static const float driver_view_ratio = 1.333;
#ifndef QCOM2
// frame from 4/3 to 16/9 display
static const mat4 full_to_wide_frame_transform = {{
.75, 0.0, 0.0, 0.0,
static const mat4 driver_view_transform = {{
driver_view_ratio*(1080-2*bdr_s)/(1920-2*bdr_s), 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
#else
// from dmonitoring.cc
static const int full_width_tici = 1928;
static const int full_height_tici = 1208;
static const int adapt_width_tici = 668;
static const int crop_x_offset = 32;
static const int crop_y_offset = -196;
static const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
static const float xscale = yscale*(1080-2*bdr_s)/(2160-2*bdr_s)*full_width_tici/full_height_tici;
static const mat4 driver_view_transform = {{
xscale, 0.0, 0.0, xscale*crop_x_offset/full_width_tici*2,
0.0, yscale, 0.0, yscale*crop_y_offset/full_height_tici*2,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
#endif
void ui_nvg_init(UIState *s) {
// init drawing
@@ -606,7 +628,7 @@ void ui_nvg_init(UIState *s) {
0.0, 0.0, 0.0, 1.0,
}};
s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
s->front_frame_mat = matmul(device_transform, driver_view_transform);
s->rear_frame_mat = matmul(device_transform, frame_transform);
// Apply transformation such that video pixel coordinates match video