From a119810a52640bb5e668e616fc4bdd6b7cb17c72 Mon Sep 17 00:00:00 2001 From: sshane Date: Sat, 18 Feb 2023 17:29:25 -0800 Subject: [PATCH] not needed --- selfdrive/ui/qt/onroad.cc | 29 ++++------------------------- 1 file changed, 4 insertions(+), 25 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 976a283110..ff06e95db6 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -493,31 +493,14 @@ void AnnotatedCameraWidget::updateFrameMat() { .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } -static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) { - const float margin = 500.0f; - const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin}; - - const vec3 pt = (vec3){{in_x, in_y, in_z}}; - const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt); - const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); - - // Project. - QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); - if (clip_region.contains(point)) { - *out = point; - return true; - } - return false; -} - float lerp(float a, float b, float t) { - return a + t * (b - a); + return a + t * (b - a); } float interp1d(float value, float start_min, float start_max, float end_min, float end_max) { - value = std::max(start_min, std::min(start_max, value)); - float factor = (value - start_min) / (start_max - start_min); - return end_min + factor * (end_max - end_min); + value = std::max(start_min, std::min(start_max, value)); + float factor = (value - start_min) / (start_max - start_min); + return end_min + factor * (end_max - end_min); } void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { @@ -543,10 +526,6 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { QLinearGradient bg(0, height(), 0, 0); float start_hue, end_hue; if (sm["controlsState"].getControlsState().getExperimentalMode()) { - QPointF out; - - calib_frame_to_full_frame(s, 5, 0, 1.22, &out); - qDebug() << out; int track_vertices_len = scene.track_vertices.length(); assert(track_vertices_len % 2 == 0);