@ -19,12 +19,16 @@
# include "nanovg_gl.h" # include "nanovg_gl.h"
# include "nanovg_gl_utils.h" # include "nanovg_gl_utils.h"
# include "paint.h" # include "paint.h"
# include "selfdrive/hardware/hw.h"
// TODO: this is also hardcoded in common/transformations/camera.py
// TODO: this is also hardcoded in common/transformations/camera.py
// TODO: choose based on frame input size
// TODO: choose based on frame input size
const float y_offset = Hardware : : TICI ( ) ? 150.0 : 0.0 ; # ifdef QCOM2
const float zoom = Hardware : : TICI ( ) ? 2912.8 : 2138.5 ; const float y_offset = 150.0 ;
const float zoom = 2912.8 ;
# else
const float y_offset = 0.0 ;
const float zoom = 2138.5 ;
# endif
static void ui_draw_text ( const UIState * s , float x , float y , const char * string , float size , NVGcolor color , const char * font_name ) { static void ui_draw_text ( const UIState * s , float x , float y , const char * string , float size , NVGcolor color , const char * font_name ) {
nvgFontFace ( s - > vg , font_name ) ; nvgFontFace ( s - > vg , font_name ) ;
@ -125,11 +129,11 @@ static void draw_frame(UIState *s) {
if ( s - > last_frame ) { if ( s - > last_frame ) {
glBindTexture ( GL_TEXTURE_2D , s - > texture [ s - > last_frame - > idx ] - > frame_tex ) ; glBindTexture ( GL_TEXTURE_2D , s - > texture [ s - > last_frame - > idx ] - > frame_tex ) ;
if ( ! Hardware : : EON ( ) ) { # ifndef QCOM
// this is handled in ion on QCOM
// this is handled in ion on QCOM
glTexImage2D ( GL_TEXTURE_2D , 0 , GL_RGB , s - > last_frame - > width , s - > last_frame - > height , glTexImage2D ( GL_TEXTURE_2D , 0 , GL_RGB , s - > last_frame - > width , s - > last_frame - > height ,
0 , GL_RGB , GL_UNSIGNED_BYTE , s - > last_frame - > addr ) ; 0 , GL_RGB , GL_UNSIGNED_BYTE , s - > last_frame - > addr ) ;
} # endif
} }
glUseProgram ( s - > gl_shader - > prog ) ; glUseProgram ( s - > gl_shader - > prog ) ;
@ -242,9 +246,13 @@ static void ui_draw_driver_view(UIState *s) {
// blackout
// blackout
const int blackout_x_r = valid_rect . right ( ) ; const int blackout_x_r = valid_rect . right ( ) ;
const Rect & blackout_rect = Hardware : : TICI ( ) ? s - > viz_rect : rect ; # ifndef QCOM2
const int blackout_w_r = blackout_rect . right ( ) - valid_rect . right ( ) ; const int blackout_w_r = rect . right ( ) - valid_rect . right ( ) ;
const int blackout_x_l = blackout_rect . x ; const int blackout_x_l = rect . x ;
# else
const int blackout_w_r = s - > viz_rect . right ( ) - valid_rect . right ( ) ;
const int blackout_x_l = s - > viz_rect . x ;
# endif
const int blackout_w_l = valid_rect . x - blackout_x_l ; const int blackout_w_l = valid_rect . x - blackout_x_l ;
ui_fill_rect ( s - > vg , { blackout_x_l , rect . y , blackout_w_l , rect . h } , COLOR_BLACK_ALPHA ( 144 ) ) ; ui_fill_rect ( s - > vg , { blackout_x_l , rect . y , blackout_w_l , rect . h } , COLOR_BLACK_ALPHA ( 144 ) ) ;
ui_fill_rect ( s - > vg , { blackout_x_r , rect . y , blackout_w_r , rect . h } , COLOR_BLACK_ALPHA ( 144 ) ) ; ui_fill_rect ( s - > vg , { blackout_x_r , rect . y , blackout_w_r , rect . h } , COLOR_BLACK_ALPHA ( 144 ) ) ;
@ -418,42 +426,41 @@ static const mat4 device_transform = {{
0.0 , 0.0 , 0.0 , 1.0 , 0.0 , 0.0 , 0.0 , 1.0 ,
} } ; } } ;
static mat4 get_driver_view_transform ( ) { static const float driver_view_ratio = 1.333 ;
const float driver_view_ratio = 1.333 ; # ifndef QCOM2
mat4 transform ; // frame from 4/3 to 16/9 display
if ( Hardware : : TICI ( ) ) { static const mat4 driver_view_transform = { {
// from dmonitoring.cc
driver_view_ratio * ( 1080 - 2 * bdr_s ) / ( 1920 - 2 * bdr_s ) , 0.0 , 0.0 , 0.0 ,
const int full_width_tici = 1928 ; 0.0 , 1.0 , 0.0 , 0.0 ,
const int full_height_tici = 1208 ; 0.0 , 0.0 , 1.0 , 0.0 ,
const int adapt_width_tici = 668 ; 0.0 , 0.0 , 0.0 , 1.0 ,
const int crop_x_offset = 32 ; } } ;
const int crop_y_offset = - 196 ; # else
const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici ; // from dmonitoring.cc
const float xscale = yscale * ( 1080 - 2 * bdr_s ) / ( 2160 - 2 * bdr_s ) * full_width_tici / full_height_tici ; static const int full_width_tici = 1928 ;
transform = ( mat4 ) { { static const int full_height_tici = 1208 ;
xscale , 0.0 , 0.0 , xscale * crop_x_offset / full_width_tici * 2 , static const int adapt_width_tici = 668 ;
0.0 , yscale , 0.0 , yscale * crop_y_offset / full_height_tici * 2 , static const int crop_x_offset = 32 ;
0.0 , 0.0 , 1.0 , 0.0 , static const int crop_y_offset = - 196 ;
0.0 , 0.0 , 0.0 , 1.0 , static const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici ;
} } ; static const float xscale = yscale * ( 1080 - 2 * bdr_s ) / ( 2160 - 2 * bdr_s ) * full_width_tici / full_height_tici ;
} else { static const mat4 driver_view_transform = { {
// frame from 4/3 to 16/9 display
xscale , 0.0 , 0.0 , xscale * crop_x_offset / full_width_tici * 2 ,
transform = ( mat4 ) { { 0.0 , yscale , 0.0 , yscale * crop_y_offset / full_height_tici * 2 ,
driver_view_ratio * ( 1080 - 2 * bdr_s ) / ( 1920 - 2 * bdr_s ) , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0 , 0.0 ,
0.0 , 1.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0 ,
0.0 , 0.0 , 1.0 , 0.0 , } } ;
0.0 , 0.0 , 0.0 , 1.0 , # endif
} } ;
}
return transform ;
}
void ui_nvg_init ( UIState * s ) { void ui_nvg_init ( UIState * s ) {
// init drawing
// init drawing
# ifdef QCOM
// on EON, we enable MSAA
// on QCOM, we enable MSAA
s - > vg = Hardware : : EON ( ) ? nvgCreate ( 0 ) : nvgCreate ( NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG ) ; s - > vg = nvgCreate ( 0 ) ;
# else
s - > vg = nvgCreate ( NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG ) ;
# endif
assert ( s - > vg ) ; assert ( s - > vg ) ;
// init fonts
// init fonts
@ -547,7 +554,7 @@ void ui_nvg_init(UIState *s) {
0.0 , 0.0 , 0.0 , 1.0 , 0.0 , 0.0 , 0.0 , 1.0 ,
} } ; } } ;
s - > front_frame_mat = matmul ( device_transform , get_ driver_view_transform( ) ) ; s - > front_frame_mat = matmul ( device_transform , driver_view_transform ) ;
s - > rear_frame_mat = matmul ( device_transform , frame_transform ) ; s - > rear_frame_mat = matmul ( device_transform , frame_transform ) ;
// Apply transformation such that video pixel coordinates match video
// Apply transformation such that video pixel coordinates match video
Willem Melching
4 years ago