jyoung/selfdrive/ui/qt/onroad/annotated_camera.cc

#include "selfdrive/ui/qt/onroad/annotated_camera.h"

#include <QPainter>
#include <algorithm>
#include <cmath>

#include "common/swaglog.h"
#include "selfdrive/ui/qt/util.h"

// Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
    : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
  pm = std::make_unique<PubMaster>(std::vector<const char*>{"uiDebug"});

  main_layout = new QVBoxLayout(this);
  main_layout->setMargin(UI_BORDER_SIZE);
  main_layout->setSpacing(0);

  experimental_btn = new ExperimentalButton(this);
  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
}

void AnnotatedCameraWidget::updateState(const UIState &s) {
  // update engageability/experimental mode button
  experimental_btn->updateState(s);
  dmon.updateState(s);
}

void AnnotatedCameraWidget::initializeGL() {
  CameraWidget::initializeGL();
  qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
  qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
  qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
  qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION));

  prev_draw_t = millis_since_boot();
  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
}

mat4 AnnotatedCameraWidget::calcFrameMatrix() {
  // Project point at "infinity" to compute x and y offsets
  // to ensure this ends up in the middle of the screen
  // for narrow come and a little lower for wide cam.
  // TODO: use proper perspective transform?

  // Select intrinsic matrix and calibration based on camera type
  auto *s = uiState();
  bool wide_cam = active_stream_type == VISION_STREAM_WIDE_ROAD;
  const auto &intrinsic_matrix = wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX;
  const auto &calibration = wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;

   // Compute the calibration transformation matrix
  const auto calib_transform = intrinsic_matrix * calibration;

  float zoom = wide_cam ? 2.0 : 1.1;
  Eigen::Vector3f inf(1000., 0., 0.);
  auto Kep = calib_transform * inf;

  int w = width(), h = height();
  float center_x = intrinsic_matrix(0, 2);
  float center_y = intrinsic_matrix(1, 2);

  float max_x_offset = center_x * zoom - w / 2 - 5;
  float max_y_offset = center_y * zoom - h / 2 - 5;
  float x_offset = std::clamp<float>((Kep.x() / Kep.z() - center_x) * zoom, -max_x_offset, max_x_offset);
  float y_offset = std::clamp<float>((Kep.y() / Kep.z() - center_y) * zoom, -max_y_offset, max_y_offset);

  // Apply transformation such that video pixel coordinates match video
  // 1) Put (0, 0) in the middle of the video
  // 2) Apply same scaling as video
  // 3) Put (0, 0) in top left corner of video
  Eigen::Matrix3f video_transform =(Eigen::Matrix3f() <<
    zoom, 0.0f, (w / 2 - x_offset) - (center_x * zoom),
    0.0f, zoom, (h / 2 - y_offset) - (center_y * zoom),
    0.0f, 0.0f, 1.0f).finished();

  s->car_space_transform = video_transform * calib_transform;
  s->clip_region = rect().adjusted(-500, -500, 500, 500);

  float zx = zoom * 2 * center_x / w;
  float zy = zoom * 2 * center_y / h;
  return mat4{{
    zx, 0.0, 0.0, -x_offset / w * 2,
    0.0, zy, 0.0, y_offset / h * 2,
    0.0, 0.0, 1.0, 0.0,
    0.0, 0.0, 0.0, 1.0,
  }};
}

void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
  painter.save();

  const UIScene &scene = s->scene;
  SubMaster &sm = *(s->sm);

  // lanelines
  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
    painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
    painter.drawPolygon(scene.lane_line_vertices[i]);
  }

  // road edges
  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
    painter.drawPolygon(scene.road_edge_vertices[i]);
  }

  // paint path
  QLinearGradient bg(0, height(), 0, 0);
  if (sm["selfdriveState"].getSelfdriveState().getExperimentalMode()) {
    // The first half of track_vertices are the points for the right side of the path
    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());

    for (int i = 0; i < max_len; ++i) {
      // Some points are out of frame
      int track_idx = max_len - i - 1;  // flip idx to start from bottom right
      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;

      // Flip so 0 is bottom of frame
      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();

      // speed up: 120, slow down: 0
      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
      // FIXME: painter.drawPolygon can be slow if hue is not rounded
      path_hue = int(path_hue * 100 + 0.5) / 100;

      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));

      // Skip a point, unless next is last
      i += (i + 2) < max_len ? 1 : 0;
    }

  } else {
    bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
    bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
    bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0));
  }

  painter.setBrush(bg);
  painter.drawPolygon(scene.track_vertices);

  painter.restore();
}

void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
  painter.save();

  const float speedBuff = 10.;
  const float leadBuff = 40.;
  const float d_rel = lead_data.getDRel();
  const float v_rel = lead_data.getVRel();

  float fillAlpha = 0;
  if (d_rel < leadBuff) {
    fillAlpha = 255 * (1.0 - (d_rel / leadBuff));
    if (v_rel < 0) {
      fillAlpha += 255 * (-1 * (v_rel / speedBuff));
    }
    fillAlpha = (int)(fmin(fillAlpha, 255));
  }

  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
  float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
  float y = std::fmin(height() - sz * .6, (float)vd.y());

  float g_xo = sz / 5;
  float g_yo = sz / 10;

  QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}};
  painter.setBrush(QColor(218, 202, 37, 255));
  painter.drawPolygon(glow, std::size(glow));

  // chevron
  QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}};
  painter.setBrush(redColor(fillAlpha));
  painter.drawPolygon(chevron, std::size(chevron));

  painter.restore();
}

void AnnotatedCameraWidget::paintGL() {
  UIState *s = uiState();
  SubMaster &sm = *(s->sm);
  const double start_draw_t = millis_since_boot();
  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();

  // draw camera frame
  {
    std::lock_guard lk(frame_lock);

    if (frames.empty()) {
      if (skip_frame_count > 0) {
        skip_frame_count--;
        qDebug() << "skipping frame, not ready";
        return;
      }
    } else {
      // skip drawing up to this many frames if we're
      // missing camera frames. this smooths out the
      // transitions from the narrow and wide cameras
      skip_frame_count = 5;
    }

    // Wide or narrow cam dependent on speed
    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
    if (has_wide_cam) {
      float v_ego = sm["carState"].getCarState().getVEgo();
      if ((v_ego < 10) || available_streams.size() == 1) {
        wide_cam_requested = true;
      } else if (v_ego > 15) {
        wide_cam_requested = false;
      }
      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
    }
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
    CameraWidget::setFrameId(model.getFrameId());
    CameraWidget::paintGL();
  }

  QPainter painter(this);
  painter.setRenderHint(QPainter::Antialiasing);
  painter.setPen(Qt::NoPen);

  if (s->scene.world_objects_visible) {
    update_model(s, model);
    drawLaneLines(painter, s);

    if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
      auto radar_state = sm["radarState"].getRadarState();
      update_leads(s, radar_state, model.getPosition());
      auto lead_one = radar_state.getLeadOne();
      auto lead_two = radar_state.getLeadTwo();
      if (lead_one.getStatus()) {
        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
      }
      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
      }
    }
  }

  dmon.draw(painter, rect());
  hud.updateState(*s);
  hud.draw(painter, rect());

  double cur_draw_t = millis_since_boot();
  double dt = cur_draw_t - prev_draw_t;
  double fps = fps_filter.update(1. / dt * 1000);
  if (fps < 15) {
    LOGW("slow frame rate: %.2f fps", fps);
  }
  prev_draw_t = cur_draw_t;

  // publish debug msg
  MessageBuilder msg;
  auto m = msg.initEvent().initUiDebug();
  m.setDrawTimeMillis(cur_draw_t - start_draw_t);
  pm->send("uiDebug", msg);
}

void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
  CameraWidget::showEvent(event);

  ui_update_params(uiState());
  prev_draw_t = millis_since_boot();
}