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Add y offset to video (#2694)

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* add y offset to video

* Also reduce zoom
This commit is contained in:
Willem Melching
2020-12-04 16:29:12 +01:00
committed by GitHub
parent 093456cc40
commit 35baefa72e
1 changed files with 5 additions and 3 deletions
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selfdrive/ui/paint.cc
+5 -3
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@@ -22,13 +22,15 @@ extern "C"{
// TODO: this is also hardcoded in common/transformations/camera.py
// TODO: choose based on frame input size
#ifdef QCOM2
const float zoom = 1.5;
const float y_offset = 200.0;
const float zoom = 1.1;
const mat3 intrinsic_matrix = (mat3){{
2648.0, 0.0, 1928.0/2,
0.0, 2648.0, 1208.0/2,
0.0, 0.0, 1.0
}};
#else
const float y_offset = 0.0;
const float zoom = 2.35;
const mat3 intrinsic_matrix = (mat3){{
910., 0., 1164.0/2,
@@ -263,7 +265,7 @@ static void ui_draw_world(UIState *s) {
// Apply transformation such that video pixel coordinates match video
// 1) Put (0, 0) in the middle of the video
nvgTranslate(s->vg, s->video_rect.x + s->video_rect.w / 2, s->video_rect.y + s->video_rect.h / 2);
nvgTranslate(s->vg, s->video_rect.x + s->video_rect.w / 2, s->video_rect.y + s->video_rect.h / 2 + y_offset);
// 2) Apply same scaling as video
nvgScale(s->vg, zoom, zoom);
@@ -733,7 +735,7 @@ void ui_nvg_init(UIState *s) {
const mat4 frame_transform = {{
zx, 0.0, 0.0, 0.0,
0.0, zy, 0.0, 0.0,
0.0, zy, 0.0, -y_offset / s->video_rect.h * zy,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};