system/ui: add specialized camera views with custom transformations (#35346)

* add specialized camera views with custom transformations for driver and road

* improve

* return np array

* cached matrix

system/ui/onroad/augmented_road_view.py

@@ -0,0 +1,127 @@
+import numpy as np
+import pyray as rl
+
+from cereal import messaging, log
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.widgets.cameraview import CameraView
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
+from openpilot.common.transformations.orientation import rot_from_euler
+
+
+CALIBRATED = log.LiveCalibrationData.Status.calibrated
+DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
+
+
+class AugmentedRoadView(CameraView):
+  def __init__(self, sm: messaging.SubMaster, stream_type: VisionStreamType):
+    super().__init__("camerad", stream_type)
+
+    self.sm = sm
+    self.stream_type = stream_type
+    self.is_wide_camera = stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
+
+    self.device_camera: DeviceCameraConfig | None = None
+    self.view_from_calib = view_frame_from_device_frame.copy()
+    self.view_from_wide_calib = view_frame_from_device_frame.copy()
+
+    self._last_calib_time: float = 0
+    self._last_recect_dims = (0.0, 0.0)
+    self._cacheed_matrix: np.ndarray | None = None
+
+  def render(self, rect):
+    # Update calibration before rendering
+    self._update_calibration()
+
+    # Render the base camera view
+    super().render(rect)
+
+    # TODO: Add road visualization overlays like:
+    # - Lane lines and road edges
+    # - Path prediction
+    # - Lead vehicle indicators
+    # - Additional features
+
+  def _update_calibration(self):
+    # Update device camera if not already set
+    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+
+    # Check if live calibration data is available and valid
+    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+      return
+
+    calib = self.sm['liveCalibration']
+    if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
+      return
+
+    # Update view_from_calib matrix
+    device_from_calib = rot_from_euler(calib.rpyCalib)
+    self.view_from_calib = view_frame_from_device_frame @ device_from_calib
+
+    # Update wide calibration if available
+    if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3:
+      wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
+      self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    # Check if we can use cached matrix
+    calib_time = self.sm.recv_frame.get('liveCalibration', 0)
+    current_dims = (rect.width, rect.height)
+    if (self._last_calib_time == calib_time and
+        self._last_recect_dims == current_dims and
+        self._cacheed_matrix is not None):
+      return self._cacheed_matrix
+
+    # Get camera configuration
+    device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
+    intrinsic = device_camera.ecam.intrinsics if self.is_wide_camera else device_camera.fcam.intrinsics
+    calibration = self.view_from_wide_calib if self.is_wide_camera else self.view_from_calib
+    zoom = 2.0 if self.is_wide_camera else 1.1
+
+    # Calculate transforms for vanishing point
+    inf_point = np.array([1000.0, 0.0, 0.0])
+    calib_transform = intrinsic @ calibration
+    kep = calib_transform @ inf_point
+
+    # Calculate center points and dimensions
+    w, h = current_dims
+    cx, cy = intrinsic[0, 2], intrinsic[1, 2]
+
+    # Calculate max allowed offsets with margins
+    margin = 5
+    max_x_offset = cx * zoom - w / 2 - margin
+    max_y_offset = cy * zoom - h / 2 - margin
+
+    # Calculate and clamp offsets to prevent out-of-bounds issues
+    try:
+      if abs(kep[2]) > 1e-6:
+        x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset)
+        y_offset = np.clip((kep[1] / kep[2] - cy) * zoom, -max_y_offset, max_y_offset)
+      else:
+        x_offset, y_offset = 0, 0
+    except (ZeroDivisionError, OverflowError):
+      x_offset, y_offset = 0, 0
+
+    # Update cache values
+    self._last_calib_time = calib_time
+    self._last_recect_dims = current_dims
+    self._cacheed_matrix = np.array([
+      [zoom * 2 * cx / w, 0, -x_offset / w * 2],
+      [0, zoom * 2 * cy / h, -y_offset / h * 2],
+      [0, 0, 1.0]
+    ])
+
+    return self._cacheed_matrix
+
+
+if __name__ == "__main__":
+  gui_app.init_window("OnRoad Camera View")
+  sm = messaging.SubMaster(['deviceState', 'liveCalibration', 'roadCameraState'])
+  road_camera_view = AugmentedRoadView(sm, VisionStreamType.VISION_STREAM_ROAD)
+  try:
+    for _ in gui_app.render():
+      sm.update(0)
+      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    road_camera_view.close()

system/ui/widgets/cameraview.py

@@ -1,4 +1,6 @@
+import numpy as np
 import pyray as rl
+
 from openpilot.system.hardware import TICI
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.system.ui.lib.application import gui_app
@@ -89,6 +91,24 @@ class CameraView:
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
 
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    if not self.frame:
+      return np.eye(3)
+
+    # Calculate aspect ratios
+    widget_aspect_ratio = rect.width / rect.height
+    frame_aspect_ratio = self.frame.width / self.frame.height
+
+    # Calculate scaling factors to maintain aspect ratio
+    zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0)
+    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
+
+    return np.array([
+        [zx, 0.0, 0.0],
+        [0.0, zy, 0.0],
+        [0.0, 0.0, 1.0]
+    ])
+
   def render(self, rect: rl.Rectangle):
     if not self._ensure_connection():
       return
@@ -102,12 +122,21 @@ class CameraView:
     if not self.frame:
       return
 
-    # Calculate scaling to maintain aspect ratio
+    transform = self._calc_frame_matrix(rect)
-    scale = min(rect.width / self.frame.width, rect.height / self.frame.height)
-    x_offset = rect.x + (rect.width - (self.frame.width * scale)) / 2
-    y_offset = rect.y + (rect.height - (self.frame.height * scale)) / 2
     src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
-    dst_rect = rl.Rectangle(x_offset, y_offset, self.frame.width * scale, self.frame.height * scale)
+
+    # Calculate scale
+    scale_x = rect.width * transform[0, 0]  # zx
+    scale_y = rect.height * transform[1, 1]  # zy
+
+    # Calculate base position (centered)
+    x_offset = rect.x + (rect.width - scale_x) / 2
+    y_offset = rect.y + (rect.height - scale_y) / 2
+
+    x_offset += transform[0, 2] * rect.width / 2
+    y_offset += transform[1, 2] * rect.height / 2
+
+    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
     # Render with appropriate method
     if TICI:

system/ui/widgets/driver_camera_view.py

@@ -0,0 +1,46 @@
+import numpy as np
+import pyray as rl
+from openpilot.system.ui.widgets.cameraview import CameraView
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+
+
+class DriverCameraView(CameraView):
+  def __init__(self, stream_type: VisionStreamType):
+    super().__init__("camerad", stream_type)
+
+  def render(self, rect):
+    super().render(rect)
+
+    # TODO: Add additional rendering logic
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    driver_view_ratio = 2.0
+
+    # Get stream dimensions
+    if self.frame:
+      stream_width = self.frame.width
+      stream_height = self.frame.height
+    else:
+      # Default values if frame not available
+      stream_width = 1928
+      stream_height = 1208
+
+    yscale = stream_height * driver_view_ratio / stream_width
+    xscale = yscale * rect.height / rect.width * stream_width / stream_height
+
+    return np.array([
+      [xscale, 0.0, 0.0],
+      [0.0, yscale, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Driver Camera View")
+  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  try:
+    for _ in gui_app.render():
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    driver_camera_view.close()