revert tici ui rotate

selfdrive/ui/paint.cc

@@ -17,21 +17,11 @@ extern "C"{
 #include "sidebar.hpp"
 
 // TODO: this is also hardcoded in common/transformations/camera.py
-// TODO: choose based on frame input size
-#ifdef QCOM2
-const mat3 intrinsic_matrix = (mat3){{
-  2648.0, 0.0, 1928.0/2,
-  0.0, 2648.0, 1208.0/2,
-  0.0,   0.0,   1.0
-}};
-#else
 const mat3 intrinsic_matrix = (mat3){{
   910., 0., 582.,
   0., 910., 437.,
   0.,   0.,   1.
 }};
-#endif
-
 
 const uint8_t alert_colors[][4] = {
   [STATUS_OFFROAD] = {0x07, 0x23, 0x39, 0xf1},

selfdrive/ui/qt/window.cc

@@ -23,20 +23,15 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
 
 #ifdef QCOM2
   set_core_affinity(7);
-  QLabel * label = new QLabel(this);
+#endif
-  main_layout->addWidget(label);
 
-  GLWindow * glWindow = new GLWindow;
-  glWindow->setLabel(label);
-  glWindow->show();
-#else
   GLWindow * glWindow = new GLWindow(this);
   main_layout->addWidget(glWindow);
-#endif
 
   SettingsWindow * settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
 
+
   main_layout->setMargin(0);
   setLayout(main_layout);
   QObject::connect(glWindow, SIGNAL(openSettings()), this, SLOT(openSettings()));
@@ -63,10 +58,6 @@ GLWindow::GLWindow(QWidget *parent) : QOpenGLWidget(parent) {
   timer = new QTimer(this);
   QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
 
-#ifdef QCOM2
-  setFixedWidth(vwp_w);
-  setFixedHeight(vwp_h);
-#endif
 }
 
 GLWindow::~GLWindow() {
@@ -74,10 +65,6 @@ GLWindow::~GLWindow() {
   doneCurrent();
 }
 
-void GLWindow::setLabel(QLabel * l){
-  label = l;
-}
-
 void GLWindow::initializeGL() {
   initializeOpenGLFunctions();
   std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
@@ -112,13 +99,6 @@ void GLWindow::timerUpdate(){
 #endif
 
   update();
-
-  if (label != NULL){
-    QImage img = grabFramebuffer();
-    QTransform transform;
-    transform.rotate(90);
-    label->setPixmap(QPixmap::fromImage(img).transformed(transform));
-  }
 }
 
 void GLWindow::resizeGL(int w, int h) {

selfdrive/ui/qt/window.hpp

@@ -2,7 +2,6 @@
 
 #include <QWidget>
 #include <QTimer>
-#include <QLabel>
 #include <QGuiApplication>
 #include <QOpenGLWidget>
 #include <QOpenGLFunctions>
@@ -40,7 +39,6 @@ class GLWindow : public QOpenGLWidget, protected QOpenGLFunctions
 public:
   using QOpenGLWidget::QOpenGLWidget;
   explicit GLWindow(QWidget *parent = 0);
-  void setLabel(QLabel *l);
   ~GLWindow();
 
 protected:
@@ -54,7 +52,7 @@ private:
   QTimer * timer;
   UIState * ui_state;
   QtSound sound;
-  QLabel * label = NULL;
+
   bool onroad = true;
 
 public slots: