You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
38 lines
1.1 KiB
38 lines
1.1 KiB
#pragma once
|
|
|
|
#include <QVBoxLayout>
|
|
#include <memory>
|
|
#include "selfdrive/ui/qt/onroad/hud.h"
|
|
#include "selfdrive/ui/qt/onroad/buttons.h"
|
|
#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
|
|
#include "selfdrive/ui/qt/widgets/cameraview.h"
|
|
|
|
class AnnotatedCameraWidget : public CameraWidget {
|
|
Q_OBJECT
|
|
|
|
public:
|
|
explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
|
|
void updateState(const UIState &s);
|
|
|
|
private:
|
|
QVBoxLayout *main_layout;
|
|
ExperimentalButton *experimental_btn;
|
|
DriverMonitorRenderer dmon;
|
|
HudRenderer hud;
|
|
std::unique_ptr<PubMaster> pm;
|
|
|
|
int skip_frame_count = 0;
|
|
bool wide_cam_requested = false;
|
|
|
|
protected:
|
|
void paintGL() override;
|
|
void initializeGL() override;
|
|
void showEvent(QShowEvent *event) override;
|
|
mat4 calcFrameMatrix() override;
|
|
void drawLaneLines(QPainter &painter, const UIState *s);
|
|
void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
|
|
inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
|
|
|
|
double prev_draw_t = 0;
|
|
FirstOrderFilter fps_filter;
|
|
};
|
|
|