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This commit is contained in:
royjr
2025-09-21 15:19:57 -04:00
parent bc75199d5a
commit 3d8c563a4b
1 changed files with 21 additions and 8 deletions
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selfdrive/ui/qt/onroad/model.cc
+21 -8
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@@ -1,5 +1,6 @@
#include "selfdrive/ui/qt/onroad/model.h"
#include <QPainterPath>
#include <algorithm>
void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
auto *s = uiState();
@@ -511,10 +512,18 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
painter.drawPolygon(chevron, std::size(chevron));
}
float mapRange(float x, float in_min, float in_max, float out_min, float out_max) {
x = std::clamp(x, in_min, in_max);
return out_min + (x - in_min) * (out_max - out_min) / (in_max - in_min);
}
// Projects a point in car space to the corresponding point in full frame image space.
bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
auto *s = uiState();
auto &sm = *(s->sm);
int visual_style = QString::fromStdString(Params().get("VisualStyle")).toInt();
int visual_blend = QString::fromStdString(Params().get("VisualStyleBlend")).toInt();
float visual_blend_threshold = QString::fromStdString(Params().get("VisualStyleBlendThreshold")).toFloat();
float blend_speed_mph = sm["carState"].getCarState().getVEgo() * 2.23694f; // convert to mph
// Normal perspective (3D)
@@ -527,19 +536,23 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
normal_view = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
}
// Top-down (2D)
const float scale_x = 35.0f; // left/right (was 20.0f)
const float scale_y = 15.0f; // forward/back (was 20.0f)
const float base_scale_x = 20.0f; // in/out 20 (far/fast) 100 (close/slow)
const float base_scale_y = 15.0f; // squish (was 20.0f)
const float y_offset = 450.0f;
float factor_scale_x = 0.0f;
if (blend_speed_mph > 0.0f) {
factor_scale_x = mapRange(blend_speed_mph, 0.0f, 50.0f, 100.0f, 0.0f);
}
float scale_x = base_scale_x + factor_scale_x;
float scale_y = base_scale_y;
QPointF topdown_view(
clip_region.center().x() + in_y * scale_x,
(clip_region.bottom() - y_offset) - in_x * scale_y
);
int visual_style = QString::fromStdString(Params().get("VisualStyle")).toInt();
int visual_blend = QString::fromStdString(Params().get("VisualStyleBlend")).toInt();
float visual_blend_threshold = QString::fromStdString(Params().get("VisualStyleBlendThreshold")).toFloat();
// Force top-down if VisualStyle == 3
if (visual_style == 3) {
*out = topdown_view;
@@ -561,7 +574,7 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
// Time-based interpolation
double now = millis_since_boot();
double dt = (now - last_t) / 1000.0; // seconds
double dt = (now - last_t) / 1000.0;
last_t = now;
const float transition_time = 1.50f; // seconds for full morph