ui: refactor model updating and rendering into ModelRenderer class (#33702)
refactor model update Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>pull/33719/head
Dean Lee
7 months ago
committed by
GitHub
parent
aed1eaede5
commit
6baa541501
7 changed files with 249 additions and 240 deletions
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#include "selfdrive/ui/qt/onroad/model.h" |
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constexpr int CLIP_MARGIN = 500; |
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constexpr float MIN_DRAW_DISTANCE = 10.0; |
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constexpr float MAX_DRAW_DISTANCE = 100.0; |
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static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { |
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const auto &line_x = line.getX(); |
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int max_idx = 0; |
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for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { |
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max_idx = i; |
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} |
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return max_idx; |
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} |
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void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) { |
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auto &sm = *(uiState()->sm); |
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if (sm.updated("carParams")) { |
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longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); |
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} |
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// Check if data is up-to-date
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if (!(sm.alive("liveCalibration") && sm.alive("modelV2"))) { |
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return; |
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} |
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clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN); |
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experimental_model = sm["selfdriveState"].getSelfdriveState().getExperimentalMode(); |
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painter.save(); |
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const auto &model = sm["modelV2"].getModelV2(); |
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const auto &radar_state = sm["radarState"].getRadarState(); |
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const auto &lead_one = radar_state.getLeadOne(); |
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update_model(model, lead_one); |
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drawLaneLines(painter); |
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drawPath(painter, model, surface_rect.height()); |
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if (longitudinal_control && sm.alive("radarState")) { |
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update_leads(radar_state, model.getPosition()); |
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const auto &lead_two = radar_state.getLeadTwo(); |
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if (lead_one.getStatus()) { |
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drawLead(painter, lead_one, lead_vertices[0], surface_rect); |
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} |
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if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) { |
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drawLead(painter, lead_two, lead_vertices[1], surface_rect); |
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} |
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} |
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painter.restore(); |
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} |
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void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { |
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for (int i = 0; i < 2; ++i) { |
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const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); |
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if (lead_data.getStatus()) { |
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float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; |
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mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]); |
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} |
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} |
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} |
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void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) { |
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const auto &model_position = model.getPosition(); |
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float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); |
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// update lane lines
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const auto &lane_lines = model.getLaneLines(); |
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const auto &line_probs = model.getLaneLineProbs(); |
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int max_idx = get_path_length_idx(lane_lines[0], max_distance); |
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for (int i = 0; i < std::size(lane_line_vertices); i++) { |
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lane_line_probs[i] = line_probs[i]; |
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mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx); |
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} |
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// update road edges
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const auto &road_edges = model.getRoadEdges(); |
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const auto &edge_stds = model.getRoadEdgeStds(); |
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for (int i = 0; i < std::size(road_edge_vertices); i++) { |
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road_edge_stds[i] = edge_stds[i]; |
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mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx); |
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} |
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// update path
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if (lead.getStatus()) { |
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const float lead_d = lead.getDRel() * 2.; |
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max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); |
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} |
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max_idx = get_path_length_idx(model_position, max_distance); |
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mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false); |
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} |
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void ModelRenderer::drawLaneLines(QPainter &painter) { |
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// lanelines
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for (int i = 0; i < std::size(lane_line_vertices); ++i) { |
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painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7))); |
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painter.drawPolygon(lane_line_vertices[i]); |
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} |
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// road edges
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for (int i = 0; i < std::size(road_edge_vertices); ++i) { |
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painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0))); |
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painter.drawPolygon(road_edge_vertices[i]); |
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} |
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} |
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void ModelRenderer::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height) { |
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QLinearGradient bg(0, height, 0, 0); |
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if (experimental_model) { |
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// The first half of track_vertices are the points for the right side of the path
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const auto &acceleration = model.getAcceleration().getX(); |
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const int max_len = std::min<int>(track_vertices.length() / 2, acceleration.size()); |
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for (int i = 0; i < max_len; ++i) { |
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// Some points are out of frame
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int track_idx = max_len - i - 1; // flip idx to start from bottom right
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if (track_vertices[track_idx].y() < 0 || track_vertices[track_idx].y() > height) continue; |
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// Flip so 0 is bottom of frame
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float lin_grad_point = (height - track_vertices[track_idx].y()) / height; |
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// speed up: 120, slow down: 0
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float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); |
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// FIXME: painter.drawPolygon can be slow if hue is not rounded
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path_hue = int(path_hue * 100 + 0.5) / 100; |
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float saturation = fmin(fabs(acceleration[i] * 1.5), 1); |
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float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey
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float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade
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bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); |
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// Skip a point, unless next is last
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i += (i + 2) < max_len ? 1 : 0; |
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} |
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} else { |
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bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); |
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bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); |
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bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0)); |
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} |
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painter.setBrush(bg); |
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painter.drawPolygon(track_vertices); |
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} |
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void ModelRenderer::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, |
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const QPointF &vd, const QRect &surface_rect) { |
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const float speedBuff = 10.; |
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const float leadBuff = 40.; |
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const float d_rel = lead_data.getDRel(); |
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const float v_rel = lead_data.getVRel(); |
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float fillAlpha = 0; |
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if (d_rel < leadBuff) { |
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fillAlpha = 255 * (1.0 - (d_rel / leadBuff)); |
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if (v_rel < 0) { |
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fillAlpha += 255 * (-1 * (v_rel / speedBuff)); |
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} |
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fillAlpha = (int)(fmin(fillAlpha, 255)); |
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} |
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float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35; |
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float x = std::clamp<float>(vd.x(), 0.f, surface_rect.width() - sz / 2); |
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float y = std::min<float>(vd.y(), surface_rect.height() - sz * 0.6); |
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float g_xo = sz / 5; |
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float g_yo = sz / 10; |
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QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}}; |
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painter.setBrush(QColor(218, 202, 37, 255)); |
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painter.drawPolygon(glow, std::size(glow)); |
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// chevron
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QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}}; |
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painter.setBrush(QColor(201, 34, 49, fillAlpha)); |
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painter.drawPolygon(chevron, std::size(chevron)); |
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} |
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// Projects a point in car to space to the corresponding point in full frame image space.
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bool ModelRenderer::mapToScreen(float in_x, float in_y, float in_z, QPointF *out) { |
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Eigen::Vector3f input(in_x, in_y, in_z); |
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auto pt = car_space_transform * input; |
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*out = QPointF(pt.x() / pt.z(), pt.y() / pt.z()); |
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return clip_region.contains(*out); |
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} |
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void ModelRenderer::mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, |
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QPolygonF *pvd, int max_idx, bool allow_invert) { |
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const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); |
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QPointF left, right; |
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pvd->clear(); |
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for (int i = 0; i <= max_idx; i++) { |
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// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
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if (line_x[i] < 0) continue; |
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bool l = mapToScreen(line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); |
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bool r = mapToScreen(line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); |
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if (l && r) { |
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// For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
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if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) { |
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continue; |
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} |
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pvd->push_back(left); |
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pvd->push_front(right); |
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} |
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} |
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} |
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@ -0,0 +1,34 @@ |
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#pragma once |
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#include <QPainter> |
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#include <QPolygonF> |
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#include "selfdrive/ui/ui.h" |
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class ModelRenderer { |
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public: |
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ModelRenderer() {} |
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void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; } |
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void draw(QPainter &painter, const QRect &surface_rect); |
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private: |
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bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out); |
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void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off, |
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QPolygonF *pvd, int max_idx, bool allow_invert = true); |
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void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect); |
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void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); |
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void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead); |
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void drawLaneLines(QPainter &painter); |
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void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height); |
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bool longitudinal_control = false; |
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bool experimental_model = false; |
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float lane_line_probs[4] = {}; |
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float road_edge_stds[2] = {}; |
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QPolygonF track_vertices; |
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QPolygonF lane_line_vertices[4] = {}; |
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QPolygonF road_edge_vertices[2] = {}; |
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QPointF lead_vertices[2] = {}; |
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Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero(); |
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QRectF clip_region; |
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}; |
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