UI: use YUV stream instead of RGB (#24317)

* UI: use YUV stream instead of RGB

* cleanup

* cleanup

selfdrive/ui/qt/offroad/driverview.cc

@@ -12,7 +12,7 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
   layout = new QStackedLayout(this);
   layout->setStackingMode(QStackedLayout::StackAll);
 
-  cameraView = new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, true, this);
+  cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this);
   layout->addWidget(cameraView);
 
   scene = new DriverViewScene(this);

selfdrive/ui/qt/onroad.cc

@@ -20,7 +20,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 
   QStackedLayout *road_view_layout = new QStackedLayout;
   road_view_layout->setStackingMode(QStackedLayout::StackAll);
-  nvg = new NvgWindow(VISION_STREAM_RGB_ROAD, this);
+  nvg = new NvgWindow(VISION_STREAM_ROAD, this);
   road_view_layout->addWidget(nvg);
   hud = new OnroadHud(this);
   road_view_layout->addWidget(hud);
@@ -97,7 +97,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
   // update stream type
   bool wide_cam = Hardware::TICI() && Params().getBool("EnableWideCamera");
-  nvg->setStreamType(wide_cam ? VISION_STREAM_RGB_WIDE_ROAD : VISION_STREAM_RGB_ROAD);
+  nvg->setStreamType(wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 }
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {

selfdrive/ui/qt/widgets/cameraview.cc

@@ -17,10 +17,10 @@ const char frame_vertex_shader[] =
 #else
   "#version 300 es\n"
 #endif
-  "in vec4 aPosition;\n"
-  "in vec4 aTexCoord;\n"
+  "layout(location = 0) in vec4 aPosition;\n"
+  "layout(location = 1) in vec2 aTexCoord;\n"
   "uniform mat4 uTransform;\n"
-  "out vec4 vTexCoord;\n"
+  "out vec2 vTexCoord;\n"
   "void main() {\n"
   "  gl_Position = uTransform * aPosition;\n"
   "  vTexCoord = aTexCoord;\n"
@@ -33,11 +33,19 @@ const char frame_fragment_shader[] =
   "#version 300 es\n"
   "precision mediump float;\n"
 #endif
-  "uniform sampler2D uTexture;\n"
-  "in vec4 vTexCoord;\n"
+  "uniform sampler2D uTextureY;\n"
+  "uniform sampler2D uTextureU;\n"
+  "uniform sampler2D uTextureV;\n"
+  "in vec2 vTexCoord;\n"
   "out vec4 colorOut;\n"
   "void main() {\n"
-  "  colorOut = texture(uTexture, vTexCoord.xy);\n"
+  "  float y = texture(uTextureY, vTexCoord).r;\n"
+  "  float u = texture(uTextureU, vTexCoord).r - 0.5;\n"
+  "  float v = texture(uTextureV, vTexCoord).r - 0.5;\n"
+  "  float r = y + 1.402 * v;\n"
+  "  float g = y - 0.344 * u - 0.714 * v;\n"
+  "  float b = y + 1.772 * u;\n"
+  "  colorOut = vec4(r, g, b, 1.0);\n"
   "}\n";
 
 const mat4 device_transform = {{
@@ -102,6 +110,7 @@ CameraViewWidget::~CameraViewWidget() {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
     glDeleteBuffers(1, &frame_ibo);
+    glDeleteBuffers(3, textures);
   }
   doneCurrent();
 }
@@ -119,7 +128,7 @@ void CameraViewWidget::initializeGL() {
   GLint frame_pos_loc = program->attributeLocation("aPosition");
   GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
 
-  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_RGB_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
+  auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
   const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
   const float frame_coords[4][4] = {
     {-1.0, -1.0, x2, y1}, // bl
@@ -144,6 +153,12 @@ void CameraViewWidget::initializeGL() {
   glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
   glBindBuffer(GL_ARRAY_BUFFER, 0);
   glBindVertexArray(0);
+
+  glGenTextures(3, textures);
+  glUseProgram(program->programId());
+  glUniform1i(program->uniformLocation("uTextureY"), 0);
+  glUniform1i(program->uniformLocation("uTextureU"), 1);
+  glUniform1i(program->uniformLocation("uTextureV"), 2);
 }
 
 void CameraViewWidget::showEvent(QShowEvent *event) {
@@ -167,12 +182,12 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
 
 void CameraViewWidget::updateFrameMat(int w, int h) {
   if (zoomed_view) {
-    if (stream_type == VISION_STREAM_RGB_DRIVER) {
+    if (stream_type == VISION_STREAM_DRIVER) {
       frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
     } else {
-      auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
       float zoom = ZOOM / intrinsic_matrix.v[0];
-      if (stream_type == VISION_STREAM_RGB_WIDE_ROAD) {
+      if (stream_type == VISION_STREAM_WIDE_ROAD) {
         zoom *= 0.5;
       }
       float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
@@ -209,38 +224,43 @@ void CameraViewWidget::paintGL() {
   }
 
   glBindVertexArray(frame_vao);
-  glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_2D, texture[latest_texture_id]->frame_tex);
 
   glUseProgram(program->programId());
-  glUniform1i(program->uniformLocation("uTexture"), 0);
-  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
+  for (int i = 0; i < 3; ++i) {
+    glActiveTexture(GL_TEXTURE0 + i);
+    glBindTexture(GL_TEXTURE_2D, textures[i]);
+    assert(glGetError() == GL_NO_ERROR);
+  }
 
+  glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);
   assert(glGetError() == GL_NO_ERROR);
   glEnableVertexAttribArray(0);
   glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
   glDisableVertexAttribArray(0);
   glBindVertexArray(0);
+  glBindTexture(GL_TEXTURE_2D, 0);
+  glActiveTexture(GL_TEXTURE0);
 }
 
 void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   makeCurrent();
-  for (int i = 0; i < vipc_client->num_buffers; i++) {
-    texture[i].reset(new EGLImageTexture(&vipc_client->buffers[i]));
-
-    glBindTexture(GL_TEXTURE_2D, texture[i]->frame_tex);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-
-    // BGR
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED);
-    assert(glGetError() == GL_NO_ERROR);
-  }
   latest_texture_id = -1;
   stream_width = vipc_client->buffers[0].width;
   stream_height = vipc_client->buffers[0].height;
+
+  glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
+  for (int i = 0; i < 3; ++i) {
+    glBindTexture(GL_TEXTURE_2D, textures[i]);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+    glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+    int width = i == 0 ? stream_width : stream_width / 2;
+    int height = i == 0 ? stream_height : stream_height / 2;
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE, width, height, 0, GL_LUMINANCE, GL_UNSIGNED_BYTE, nullptr);
+    assert(glGetError() == GL_NO_ERROR);
+  }
+
   updateFrameMat(width(), height());
 }
 
@@ -290,6 +310,7 @@ void CameraViewWidget::vipcThread() {
       {
         std::lock_guard lk(lock);
 
+        for (int i = 0; i < 3; i++) {
           void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
 
           if (texture_buffer == nullptr) {
@@ -297,12 +318,17 @@ void CameraViewWidget::vipcThread() {
             continue;
           }
 
-        memcpy(texture_buffer, buf->addr, buf->len);
+          int width = i == 0 ? stream_width : stream_width / 2;
+          int height = i == 0 ? stream_height : stream_height / 2;
+          uint8_t* tex_buf[] = {buf->y, buf->u, buf->v};
+          memcpy(texture_buffer, tex_buf[i], width*height);
           gl_buffer->unmap();
 
           // copy pixels from PBO to texture object
-        glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
-        glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
+          glBindTexture(GL_TEXTURE_2D, textures[i]);
+          glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, width, height, GL_LUMINANCE, GL_UNSIGNED_BYTE, 0);
+        }
+
         glBindTexture(GL_TEXTURE_2D, 0);
         assert(glGetError() == GL_NO_ERROR);
 

selfdrive/ui/qt/widgets/cameraview.h

@@ -48,7 +48,6 @@ protected:
   int latest_texture_id = -1;
   GLuint frame_vao, frame_vbo, frame_ibo;
   mat4 frame_mat;
-  std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
   std::unique_ptr<WaitFence> wait_fence;
   std::unique_ptr<QOpenGLShaderProgram> program;
   QColor bg = QColor("#000000");
@@ -59,6 +58,8 @@ protected:
   std::atomic<VisionStreamType> stream_type;
   QThread *vipc_thread = nullptr;
 
+  GLuint textures[3];
+
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
 };

selfdrive/ui/replay/main.cc

@@ -15,7 +15,6 @@ int main(int argc, char *argv[]) {
       {"no-loop", REPLAY_FLAG_NO_LOOP, "stop at the end of the route"},
       {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"},
       {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
-      {"yuv", REPLAY_FLAG_SEND_YUV, "send yuv frame"},
       {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
       {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
   };

selfdrive/ui/replay/replay.cc

@@ -289,7 +289,7 @@ void Replay::startStream(const Segment *cur_segment) {
         camera_size[type] = {fr->width, fr->height};
       }
     }
-    camera_server_ = std::make_unique<CameraServer>(camera_size, hasFlag(REPLAY_FLAG_SEND_YUV));
+    camera_server_ = std::make_unique<CameraServer>(camera_size, true);
   }
 
   // start stream thread

selfdrive/ui/replay/replay.h

@@ -17,7 +17,6 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_LOOP = 0x0010,
   REPLAY_FLAG_NO_FILE_CACHE = 0x0020,
   REPLAY_FLAG_QCAMERA = 0x0040,
-  REPLAY_FLAG_SEND_YUV = 0x0080,
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
   REPLAY_FLAG_FULL_SPEED = 0x0200,
   REPLAY_FLAG_NO_VIPC = 0x0400,

selfdrive/ui/watch3.cc

@@ -19,15 +19,16 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_RGB_MAP, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_ROAD, false));
+    // TODO: make mapd output YUV
+    // hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
+    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_DRIVER, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_RGB_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false));
+    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
   }
 
   return a.exec();