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45 lines
1.0 KiB
45 lines
1.0 KiB
4 years ago
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#pragma once
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#include <memory>
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#include <QOpenGLFunctions>
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#include <QOpenGLWidget>
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#include "cereal/visionipc/visionipc_client.h"
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#include "selfdrive/common/glutil.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/visionimg.h"
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#include "selfdrive/ui/ui.h"
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class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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public:
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using QOpenGLWidget::QOpenGLWidget;
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explicit CameraViewWidget(VisionStreamType stream_type, QWidget* parent = nullptr);
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~CameraViewWidget();
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signals:
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void frameUpdated();
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protected:
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void paintGL() override;
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void initializeGL() override;
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void showEvent(QShowEvent *event) override;
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void hideEvent(QHideEvent *event) override;
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protected slots:
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void updateFrame();
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private:
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VisionBuf *latest_frame = nullptr;
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GLuint frame_vao, frame_vbo, frame_ibo;
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mat4 frame_mat;
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std::unique_ptr<VisionIpcClient> vipc_client;
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std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
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std::unique_ptr<GLShader> gl_shader;
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VisionStreamType stream_type;
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QTimer* timer;
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};
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