mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-08-20 23:53:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

Revert "dmonitoring/DriverView: get crop_rect & transform by video size (#23014)"

Browse Source 
This reverts commit 1af715d6a2.
This commit is contained in:
Willem Melching
2021-12-08 19:13:38 +01:00
parent 1af715d6a2
commit b5fdf646ff
3 changed files with 32 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/widgets/cameraview.cc
+14 -8
View File
@@ -51,22 +51,28 @@ const mat4 device_transform = {{
0.0, 0.0, 0.0, 1.0,
}};
mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
mat4 get_driver_view_transform() {
const float driver_view_ratio = 1.333;
mat4 transform;
if (stream_width == TICI_CAM_WIDTH) {
const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
if (Hardware::TICI()) {
// from dmonitoring.cc
const int full_width_tici = 1928;
const int full_height_tici = 1208;
const int adapt_width_tici = 954;
const int crop_x_offset = -72;
const int crop_y_offset = -144;
const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
const float xscale = yscale*(1080)/(2160)*full_width_tici/full_height_tici;
transform = (mat4){{
xscale, 0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
0.0, yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
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,
}};
} else {
// frame from 4/3 to 16/9 display
transform = (mat4){{
driver_view_ratio * screen_height / screen_width, 0.0, 0.0, 0.0,
driver_view_ratio*(1080)/(1920), 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,
@@ -172,7 +178,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
void CameraViewWidget::updateFrameMat(int w, int h) {
if (zoomed_view) {
if (stream_type == VISION_STREAM_RGB_FRONT) {
frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
frame_mat = matmul(device_transform, get_driver_view_transform());
} else {
auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
float zoom = ZOOM / intrinsic_matrix.v[0];