clean up driverview

selfdrive/common/modeldata.h

@@ -26,12 +26,6 @@ constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
 const int TICI_CAM_WIDTH = 1928;
 
-namespace tici_dm_crop {
-  const int x_offset = -72;
-  const int y_offset = -144;
-  const int width = 954;
-};
-
 const mat3 fcam_intrinsic_matrix =
     Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
                               0., 910., 874.0 / 2,

selfdrive/ui/qt/offroad/driverview.cc

@@ -57,45 +57,16 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     return;
   }
 
-  const int width = 4 * height() / 3;
+  const int width = 2 * height();
   const QRect rect2 = {rect().center().x() - width / 2, rect().top(), width, rect().height()};
-  const QRect valid_rect = {is_rhd ? rect2.right() - rect2.height() / 2 : rect2.left(), rect2.top(), rect2.height() / 2, rect2.height()};
-
-  // blackout
-  const QColor bg(0, 0, 0, 140);
-  const QRect& blackout_rect = Hardware::TICI() ? rect() : rect2;
-  p.fillRect(blackout_rect.adjusted(0, 0, valid_rect.left() - blackout_rect.right(), 0), bg);
-  p.fillRect(blackout_rect.adjusted(valid_rect.right() - blackout_rect.left(), 0, 0, 0), bg);
-  if (Hardware::TICI()) {
-    p.fillRect(blackout_rect.adjusted(valid_rect.left()-blackout_rect.left()+1, 0, valid_rect.right()-blackout_rect.right()-1, -valid_rect.height()*7/10), bg); // top dz
-  }
 
-  // face bounding box
   cereal::DriverState::Reader driver_state = sm["driverState"].getDriverState();
   bool face_detected = driver_state.getFaceProb() > 0.5;
-  if (face_detected) {
-    auto fxy_list = driver_state.getFacePosition();
-    auto std_list = driver_state.getFaceOrientationStd();
-    float face_x = fxy_list[0];
-    float face_y = fxy_list[1];
-    float face_std = std::max(std_list[0], std_list[1]);
-
-    float alpha = 0.7;
-    if (face_std > 0.08) {
-      alpha = std::max(0.7 - (face_std-0.08)*7, 0.0);
-    }
-    const int box_size = 0.6 * rect2.height() / 2;
-    const float rhd_offset = 0.05; // lhd is shifted, so rhd is not mirrored
-    int fbox_x = valid_rect.center().x() + (is_rhd ? (face_x + rhd_offset) : -face_x) * valid_rect.width();
-    int fbox_y = valid_rect.center().y() + face_y * valid_rect.height();
-    p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
-    p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
-  }
 
   // icon
-  const int img_offset = 30;
-  const int img_x = is_rhd ? rect2.right() - FACE_IMG_SIZE - img_offset : rect2.left() + img_offset;
+  const int img_offset = 60;
+  const int img_x = rect2.left() + img_offset;
   const int img_y = rect2.bottom() - FACE_IMG_SIZE - img_offset;
-  p.setOpacity(face_detected ? 1.0 : 0.3);
+  p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
 }

selfdrive/ui/qt/widgets/cameraview.cc

@@ -52,26 +52,16 @@ const mat4 device_transform = {{
 }};
 
 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
-  const float driver_view_ratio = 1.333;
+  const float driver_view_ratio = 2.0;
   mat4 transform;
-  if (stream_width == TICI_CAM_WIDTH) {
-    const float yscale = stream_height * driver_view_ratio / tici_dm_crop::width;
-    const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
-    transform = (mat4){{
-      xscale,  0.0, 0.0, xscale*tici_dm_crop::x_offset/stream_width*2,
-      0.0,  yscale, 0.0, yscale*tici_dm_crop::y_offset/stream_height*2,
-      0.0,  0.0, 1.0, 0.0,
-      0.0,  0.0, 0.0, 1.0,
-    }};
-  } else {
-    // frame from 4/3 to 16/9 display
-    transform = (mat4){{
-      driver_view_ratio * screen_height / screen_width,  0.0, 0.0, 0.0,
-      0.0,  1.0, 0.0, 0.0,
-      0.0,  0.0, 1.0, 0.0,
-      0.0,  0.0, 0.0, 1.0,
-    }};
-  }
+  const float yscale = stream_height * driver_view_ratio / stream_width;
+  const float xscale = yscale*screen_height/screen_width*stream_width/stream_height;
+  transform = (mat4){{
+    xscale,  0.0, 0.0, 0.0,
+    0.0,  yscale, 0.0, 0.0,
+    0.0,  0.0, 1.0, 0.0,
+    0.0,  0.0, 0.0, 1.0,
+  }};
   return transform;
 }