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overhead

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This commit is contained in:
royjr
2025-09-20 11:24:24 -04:00
parent e45b17c230
commit 5acc040a89
2 changed files with 10 additions and 5 deletions
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selfdrive/ui/qt/onroad/model.cc
+8 -3
View File
@@ -494,9 +494,14 @@ void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadDa
// Projects a point in car to space to the corresponding point in full frame image space.
bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) {
Eigen::Vector3f input(in_x, in_y, in_z);
auto pt = car_space_transform * input;
*out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 3) {
constexpr float scale = 20.0f; // meters → pixels, tweak to zoom
*out = QPointF(clip_region.center().x() + in_y * scale, clip_region.bottom() - in_x * scale);
} else {
Eigen::Vector3f input(in_x, in_y, in_z);
auto pt = car_space_transform * input;
*out = QPointF(pt.x() / pt.z(), pt.y() / pt.z());
}
return clip_region.contains(*out);
}
selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
+2 -2
View File
@@ -89,12 +89,12 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
list->addItem(dev_ui_settings);
// Visuals: Visual Style
std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision")};
std::vector<QString> visual_style_settings_texts{tr("Default"), tr("Minimal"), tr("Vision"), tr("Overhead")};
visual_style_settings = new ButtonParamControlSP(
"VisualStyle", tr("Visual Style"), tr("Controls how the road and driving environment are displayed in the onroad UI."),
"",
visual_style_settings_texts,
380);
250);
list->addItem(visual_style_settings);
sunnypilotScroller = new ScrollViewSP(list, this);