mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-06-09 11:56:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

visual_style_blend vs visual_style_overhead_blend

Browse Source
This commit is contained in:
royjr
2025-09-25 02:08:28 -04:00
parent 904cc796b0
commit 660c994c5e
5 changed files with 31 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
common/params_keys.h
View File

@@ -164,6 +164,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
{"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
{"VisualStyle", {PERSISTENT | BACKUP, INT, "0"}},
{"VisualStyleBlend", {PERSISTENT | BACKUP, BOOL, "0"}},
{"VisualStyleOverheadBlend", {PERSISTENT | BACKUP, BOOL, "0"}},
{"VisualStyleBlendThreshold", {PERSISTENT | BACKUP, INT, "20"}},
{"VisualRadarTracks", {PERSISTENT | BACKUP, BOOL, "0"}},
{"VisualRadarTracksDelay", {PERSISTENT | BACKUP, FLOAT, "0.0"}},

20
selfdrive/ui/qt/onroad/model.cc
View File

@@ -128,7 +128,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
if (s->scene.visual_style == 0) {
max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
} else {
max_distance = std::clamp(*(model_position.getX().end() - 1), 0.0f, 300.0f);
max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
}
// update lane lines
@@ -592,6 +592,18 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
// Normal perspective (3D)
Eigen::Vector3f input(in_x, in_y, in_z);
if (s->scene.visual_style_blend == 1 && s->scene.visual_style != 0) {
float IN_X_OFFSET = mapRange(blend_speed_mph, 20.0f, 50.0f, 0.0f, 24.0f);
float IN_Y_OFFSET = mapRange(blend_speed_mph, 20.0f, 50.0f, 1.0f, 2.0f);
float IN_Z_OFFSET = mapRange(blend_speed_mph, 20.0f, 50.0f, 0.0f, 5.0f);
float PITCH_DEG = mapRange(blend_speed_mph, 20.0f, 50.0f, 0.0f, 5.0f);
input = Eigen::Vector3f(in_x + IN_X_OFFSET, in_y / IN_Y_OFFSET, in_z + IN_Z_OFFSET);
Eigen::AngleAxisf pitch_rot(PITCH_DEG * M_PI / 180.0f, Eigen::Vector3f::UnitY());
input = pitch_rot * input;
}
auto pt = car_space_transform * input;
bool normal_valid = (pt.z() > 1e-3f &&
std::isfinite(pt.x()) && std::isfinite(pt.y()));
@@ -624,15 +636,15 @@ bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out
}
// Blending mode
if (s->scene.visual_blend == 1 && s->scene.visual_style != 0) {
if (s->scene.visual_style_overhead_blend == 1 && s->scene.visual_style != 0) {
static float blend = 0.0f; // 0 = 3D, 1 = 2D
static float target_blend = 0.0f; // where we want to go
static double last_t = millis_since_boot();
// Hysteresis logic
if (target_blend < 0.5f && blend_speed_mph > s->scene.visual_blend_threshold) {
if (target_blend < 0.5f && blend_speed_mph > s->scene.visual_style_blend_threshold) {
target_blend = 1.0f; // switch to 2D
} else if (target_blend > 0.5f && blend_speed_mph < (s->scene.visual_blend_threshold - 5)) {
} else if (target_blend > 0.5f && blend_speed_mph < (s->scene.visual_style_blend_threshold - 5)) {
target_blend = 0.0f; // switch back to 3D
}

7
selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
View File

@@ -72,6 +72,13 @@ VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
},
{
"VisualStyleBlend",
tr("Blend to Visual Style"),
tr("Blend to view when using Minimal/Vision visual style."),
"../assets/offroad/icon_monitoring.png",
false,
},
{
"VisualStyleOverheadBlend",
tr("Blend to Overhead Visual Style"),
tr("Blend to Overhead view when using Minimal/Vision visual style."),
"../assets/offroad/icon_monitoring.png",

6
selfdrive/ui/sunnypilot/ui.cc
View File

@@ -37,6 +37,7 @@ UIStateSP::UIStateSP(QObject *parent) : UIState(parent) {
param_watcher->addParam("StandstillTimer");
param_watcher->addParam("VisualStyle");
param_watcher->addParam("VisualStyleBlend");
param_watcher->addParam("VisualStyleOverheadBlend");
param_watcher->addParam("VisualStyleBlendThreshold");
param_watcher->addParam("VisualRadarTracks");
param_watcher->addParam("VisualRadarTracksDelay");
@@ -63,8 +64,9 @@ void ui_update_params_sp(UIStateSP *s) {
s->scene.speed_limit_mode = std::atoi(params.get("SpeedLimitMode").c_str());
s->scene.road_name = params.getBool("RoadNameToggle");
s->scene.visual_style = QString::fromStdString(params.get("VisualStyle")).toInt();
s->scene.visual_blend = QString::fromStdString(params.get("VisualStyleBlend")).toInt();
s->scene.visual_blend_threshold = QString::fromStdString(params.get("VisualStyleBlendThreshold")).toInt();
s->scene.visual_style_blend = QString::fromStdString(params.get("VisualStyleBlend")).toInt();
s->scene.visual_style_overhead_blend = QString::fromStdString(params.get("VisualStyleOverheadBlend")).toInt();
s->scene.visual_style_blend_threshold = QString::fromStdString(params.get("VisualStyleBlendThreshold")).toInt();
s->scene.visual_radar_tracks = QString::fromStdString(params.get("VisualRadarTracks")).toInt();
s->scene.visual_radar_tracks_delay = QString::fromStdString(params.get("VisualRadarTracksDelay")).toFloat();
s->scene.visual_wide_cam = QString::fromStdString(params.get("VisualWideCam")).toInt();

5
selfdrive/ui/sunnypilot/ui_scene.h
View File

@@ -13,8 +13,9 @@ typedef struct UISceneSP : UIScene {
int speed_limit_mode = 0;
bool road_name = false;
int visual_style = 0;
int visual_blend = 0;
int visual_blend_threshold = 20.0;
int visual_style_blend = 0;
int visual_style_overhead_blend = 0;
int visual_style_blend_threshold = 20.0;
int visual_radar_tracks = 0;
float visual_radar_tracks_delay = 0;
int visual_wide_cam = 0;