dmonitoring/DriverView: get crop_rect & transform by video size (#23169)

* dmonitoring/DriverView: get crop_rect & transform by video size (#23014)

* keep rounding the same

Co-authored-by: Dean Lee <deanlee3@gmail.com>

selfdrive/common/modeldata.h

@@ -1,6 +1,8 @@
 #pragma once
 
 #include <array>
+#include "selfdrive/common/mat.h"
+#include "selfdrive/hardware/hw.h"
 
 const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
@@ -36,10 +38,14 @@ const std::array<double, TRAJECTORY_SIZE> X_IDXS = {
        168.75  , 180.1875, 192.};
 const auto X_IDXS_FLOAT = convert_array_to_type<double, float, TRAJECTORY_SIZE>(X_IDXS);
 
-#ifdef __cplusplus
+const int TICI_CAM_WIDTH = 1928;
+
+namespace tici_dm_crop {
+  const int x_offset = -72;
+  const int y_offset = -144;
+  const int width = 954;
+};
 
-#include "selfdrive/common/mat.h"
-#include "selfdrive/hardware/hw.h"
 const mat3 fcam_intrinsic_matrix =
     Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
                               0., 910., 874.0 / 2,
@@ -62,5 +68,3 @@ static inline mat3 get_model_yuv_transform(bool bayer = true) {
   }};
   return bayer ? transform_scale_buffer(transform, db_s) : transform;
 }
-
-#endif

selfdrive/modeld/models/dmonitoring.cc

@@ -3,6 +3,7 @@
 #include "libyuv.h"
 
 #include "selfdrive/common/mat.h"
+#include "selfdrive/common/modeldata.h"
 #include "selfdrive/common/params.h"
 #include "selfdrive/common/timing.h"
 #include "selfdrive/hardware/hw.h"
@@ -67,21 +68,15 @@ void crop_yuv(uint8_t *raw, int width, int height, uint8_t *y, uint8_t *u, uint8
 
 DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height) {
   Rect crop_rect;
-  if (Hardware::TICI()) {
-    const int full_width_tici = 1928;
-    const int full_height_tici = 1208;
-    const int adapt_width_tici = 954;
-    const int x_offset_tici = -72;
-    const int y_offset_tici = -144;
-    const int cropped_height = adapt_width_tici / 1.33;
-    crop_rect = {full_width_tici / 2 - adapt_width_tici / 2 + x_offset_tici,
-                 full_height_tici / 2 - cropped_height / 2 + y_offset_tici,
+  if (width == TICI_CAM_WIDTH) {
+    const int cropped_height = tici_dm_crop::width / 1.33;
+    crop_rect = {width / 2 - tici_dm_crop::width / 2 + tici_dm_crop::x_offset,
+                 height / 2 - cropped_height / 2 + tici_dm_crop::y_offset,
                  cropped_height / 2,
                  cropped_height};
     if (!s->is_rhd) {
-      crop_rect.x += adapt_width_tici - crop_rect.w;
+      crop_rect.x += tici_dm_crop::width - crop_rect.w;
     }
-
   } else {
     const int adapt_width = 372;
     crop_rect = {0, 0, adapt_width, height};

selfdrive/ui/qt/widgets/cameraview.cc

@@ -51,28 +51,22 @@ const mat4 device_transform = {{
   0.0,  0.0, 0.0, 1.0,
 }};
 
-mat4 get_driver_view_transform() {
+mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
   const float driver_view_ratio = 1.333;
   mat4 transform;
-  if (Hardware::TICI()) {
-    // from dmonitoring.cc
-    const int full_width_tici = 1928;
-    const int full_height_tici = 1208;
-    const int adapt_width_tici = 954;
-    const int crop_x_offset = -72;
-    const int crop_y_offset = -144;
-    const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
-    const float xscale = yscale*(1080)/(2160)*full_width_tici/full_height_tici;
+  if (stream_width == TICI_CAM_WIDTH) {
+    const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
+    const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
     transform = (mat4){{
-      xscale,  0.0, 0.0, xscale*crop_x_offset/full_width_tici*2,
-      0.0,  yscale, 0.0, yscale*crop_y_offset/full_height_tici*2,
+      xscale,  0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
+      0.0,  yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
       0.0,  0.0, 1.0, 0.0,
       0.0,  0.0, 0.0, 1.0,
     }};
   } else {
     // frame from 4/3 to 16/9 display
     transform = (mat4){{
-      driver_view_ratio*(1080)/(1920),  0.0, 0.0, 0.0,
+      driver_view_ratio * screen_height / screen_width,  0.0, 0.0, 0.0,
       0.0,  1.0, 0.0, 0.0,
       0.0,  0.0, 1.0, 0.0,
       0.0,  0.0, 0.0, 1.0,
@@ -178,7 +172,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
 void CameraViewWidget::updateFrameMat(int w, int h) {
   if (zoomed_view) {
     if (stream_type == VISION_STREAM_RGB_FRONT) {
-      frame_mat = matmul(device_transform, get_driver_view_transform());
+      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;
       float zoom = ZOOM / intrinsic_matrix.v[0];