Rename RGB vision streams to match YUV streams (#23961)

* Renaming VISION_STREAM_RGB_.. to match yuv names like VISION_STREAM_ROAD
VISION_STREAM_RGB_BACK -> VISION_STREAM_RGB_ROAD
VISION_STREAM_RGB_FRONT -> VISION_STREAM_RGB_DRIVER

* little more

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

cereal

@@ -1 +1 @@
-Subproject commit 84a1793eb4d09821f23613b98d80e2ce4ee57b9c
+Subproject commit e2a813144f93dc58a6cc15627915b23fbfa04d0d

selfdrive/camerad/cameras/camera_qcom.cc

@@ -211,12 +211,12 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i
               /*fps*/ 20,
 #endif
               device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD);
+              VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD);
 
   camera_init(v, &s->driver_cam, CAMERA_ID_OV8865, 1,
               /*pixel_clock=*/72000000, /*line_length_pclk=*/1602,
               /*max_gain=*/510, 10, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
+              VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
 
   s->sm = new SubMaster({"driverState"});
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -743,12 +743,12 @@ void CameraState::camera_open() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
+  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
   printf("driver camera initted \n");
   if (!env_only_driver) {
-    s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD); // swap left/right
+    s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD); // swap left/right
     printf("road camera initted \n");
-    s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE, VISION_STREAM_WIDE_ROAD);
+    s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD);
     printf("wide road camera initted \n");
   }
 

selfdrive/camerad/cameras/camera_replay.cc

@@ -98,9 +98,9 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
   camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD, get_url(road_camera_route, "fcamera", 0));
+              VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, get_url(road_camera_route, "fcamera", 0));
   // camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
-  //             VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER, get_url(driver_camera_route, "dcamera", 0));
+  //             VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, get_url(driver_camera_route, "dcamera", 0));
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
 }
 

selfdrive/camerad/cameras/camera_webcam.cc

@@ -141,9 +141,9 @@ void driver_camera_thread(CameraState *s) {
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
   camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
-              VISION_STREAM_RGB_BACK, VISION_STREAM_ROAD);
+              VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD);
   camera_init(v, &s->driver_cam, CAMERA_ID_LGC615, 10, device_id, ctx,
-              VISION_STREAM_RGB_FRONT, VISION_STREAM_DRIVER);
+              VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER);
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "thumbnail"});
 }
 

selfdrive/camerad/snapshot/snapshot.py

@@ -17,9 +17,9 @@ from selfdrive.manager.process_config import managed_processes
 LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
 
 VISION_STREAMS = {
-  "roadCameraState": VisionStreamType.VISION_STREAM_RGB_BACK,
-  "driverCameraState": VisionStreamType.VISION_STREAM_RGB_FRONT,
-  "wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE,
+  "roadCameraState": VisionStreamType.VISION_STREAM_RGB_ROAD,
+  "driverCameraState": VisionStreamType.VISION_STREAM_RGB_DRIVER,
+  "wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE_ROAD,
 }
 
 

selfdrive/test/process_replay/regen.py

@@ -159,7 +159,7 @@ def replay_cameras(lr, frs):
                                      args=(s, stream, dt, vs, frames, size)))
 
   # hack to make UI work
-  vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, eon_f_frame_size[0], eon_f_frame_size[1])
+  vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, eon_f_frame_size[0], eon_f_frame_size[1])
   vs.start_listener()
   return vs, p
 

selfdrive/ui/qt/offroad/driverview.cc

@@ -12,7 +12,7 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
   layout = new QStackedLayout(this);
   layout->setStackingMode(QStackedLayout::StackAll);
 
-  cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_FRONT, true, this);
+  cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, true, this);
   layout->addWidget(cameraView);
 
   scene = new DriverViewScene(this);

selfdrive/ui/qt/onroad.cc

@@ -20,7 +20,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 
   QStackedLayout *road_view_layout = new QStackedLayout;
   road_view_layout->setStackingMode(QStackedLayout::StackAll);
-  nvg = new NvgWindow(VISION_STREAM_RGB_BACK, this);
+  nvg = new NvgWindow(VISION_STREAM_RGB_ROAD, this);
   road_view_layout->addWidget(nvg);
   hud = new OnroadHud(this);
   road_view_layout->addWidget(hud);
@@ -97,7 +97,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
   // update stream type
   bool wide_cam = Hardware::TICI() && Params().getBool("EnableWideCamera");
-  nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK);
+  nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE_ROAD : VISION_STREAM_RGB_ROAD);
 }
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {

selfdrive/ui/qt/widgets/cameraview.cc

@@ -123,7 +123,7 @@ void CameraViewWidget::initializeGL() {
   GLint frame_pos_loc = program->attributeLocation("aPosition");
   GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
 
-  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_FRONT ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
+  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
   const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
   const float frame_coords[4][4] = {
     {-1.0, -1.0, x2, y1}, // bl
@@ -171,12 +171,12 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
 
 void CameraViewWidget::updateFrameMat(int w, int h) {
   if (zoomed_view) {
-    if (stream_type == VISION_STREAM_RGB_FRONT) {
+    if (stream_type == VISION_STREAM_RGB_DRIVER) {
       frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
     } else {
-      auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
       float zoom = ZOOM / intrinsic_matrix.v[0];
-      if (stream_type == VISION_STREAM_RGB_WIDE) {
+      if (stream_type == VISION_STREAM_RGB_WIDE_ROAD) {
         zoom *= 0.5;
       }
       float zx = zoom * 2 * intrinsic_matrix.v[2] / width();

selfdrive/ui/replay/camera.h

@@ -32,9 +32,9 @@ protected:
   void cameraThread(Camera &cam);
 
   Camera cameras_[MAX_CAMERAS] = {
-      {.type = RoadCam, .rgb_type = VISION_STREAM_RGB_BACK, .yuv_type = VISION_STREAM_ROAD},
-      {.type = DriverCam, .rgb_type = VISION_STREAM_RGB_FRONT, .yuv_type = VISION_STREAM_DRIVER},
-      {.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE, .yuv_type = VISION_STREAM_WIDE_ROAD},
+      {.type = RoadCam, .rgb_type = VISION_STREAM_RGB_ROAD, .yuv_type = VISION_STREAM_ROAD},
+      {.type = DriverCam, .rgb_type = VISION_STREAM_RGB_DRIVER, .yuv_type = VISION_STREAM_DRIVER},
+      {.type = WideRoadCam, .rgb_type = VISION_STREAM_RGB_WIDE_ROAD, .yuv_type = VISION_STREAM_WIDE_ROAD},
   };
   std::atomic<int> publishing_ = 0;
   std::unique_ptr<VisionIpcServer> vipc_server_;

selfdrive/ui/watch3.cc

@@ -20,14 +20,14 @@ int main(int argc, char *argv[]) {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
     hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_RGB_MAP, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_BACK, false));
+    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_ROAD, false));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_FRONT, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE, false));
+    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, false));
+    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE_ROAD, false));
   }
 
   return a.exec();

tools/replay/ui.py

@@ -99,7 +99,7 @@ def ui_thread(addr):
 
   draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
 
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_RGB_BACK, True)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_RGB_ROAD, True)
   while 1:
     list(pygame.event.get())
 

tools/sim/bridge.py

@@ -67,7 +67,7 @@ class Camerad:
     self.vipc_server = VisionIpcServer("camerad")
 
     # TODO: remove RGB buffers once the last RGB vipc subscriber is removed
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_BACK, 4, True, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, W, H)
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, W, H)
     self.vipc_server.start_listener()
 
@@ -97,7 +97,7 @@ class Camerad:
     eof = self.frame_id * 0.05
 
     # TODO: remove RGB send once the last RGB vipc subscriber is removed
-    self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_BACK, img.tobytes(), self.frame_id, eof, eof)
+    self.vipc_server.send(VisionStreamType.VISION_STREAM_RGB_ROAD, img.tobytes(), self.frame_id, eof, eof)
     self.vipc_server.send(VisionStreamType.VISION_STREAM_ROAD, yuv.data.tobytes(), self.frame_id, eof, eof)
 
     dat = messaging.new_message('roadCameraState')