From cc75e9ba9f12d32bdb04c95714d5f05b00e96ade Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 8 Jul 2021 16:42:34 +0800
Subject: [PATCH] UI: remove zoom from struct UIState (#21520)

old-commit-hash: 13b2ce9391ca132a1d4fbeb7e40c32cc1f3264e0
---
 selfdrive/ui/paint.cc                 | 10 +++++-----
 selfdrive/ui/qt/widgets/cameraview.cc |  8 ++++----
 selfdrive/ui/ui.h                     |  3 +--
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 152bd58ed2..96d635ac9f 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -440,15 +440,15 @@ void ui_resize(UIState *s, int width, int height) {
 
   auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
 
-  s->zoom = zoom / intrinsic_matrix.v[0];
+  float zoom = ZOOM / intrinsic_matrix.v[0];
 
   if (s->wide_camera) {
-    s->zoom *= 0.5;
+    zoom *= 0.5;
   }
 
   s->video_rect = Rect{bdr_s, bdr_s, s->fb_w - 2 * bdr_s, s->fb_h - 2 * bdr_s};
-  float zx = s->zoom * 2 * intrinsic_matrix.v[2] / s->video_rect.w;
-  float zy = s->zoom * 2 * intrinsic_matrix.v[5] / s->video_rect.h;
+  float zx = zoom * 2 * intrinsic_matrix.v[2] / s->video_rect.w;
+  float zy = zoom * 2 * intrinsic_matrix.v[5] / s->video_rect.h;
 
   const mat4 frame_transform = {{
     zx, 0.0, 0.0, 0.0,
@@ -464,7 +464,7 @@ void ui_resize(UIState *s, int width, int height) {
   nvgTranslate(s->vg, s->video_rect.x + s->video_rect.w / 2, s->video_rect.y + s->video_rect.h / 2 + y_offset);
 
   // 2) Apply same scaling as video
-  nvgScale(s->vg, s->zoom, s->zoom);
+  nvgScale(s->vg, zoom, zoom);
 
   // 3) Put (0, 0) in top left corner of video
   nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index cc84c59dee..f923225ddc 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -129,12 +129,12 @@ void CameraViewWidget::initializeGL() {
     frame_mat = matmul(device_transform, get_driver_view_transform());
   } else {
     auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-    float zoom_ = zoom / intrinsic_matrix.v[0];
+    float zoom = ZOOM / intrinsic_matrix.v[0];
     if (stream_type == VISION_STREAM_RGB_WIDE) {
-      zoom_ *= 0.5;
+      zoom *= 0.5;
     }
-    float zx = zoom_ * 2 * intrinsic_matrix.v[2] / width();
-    float zy = zoom_ * 2 * intrinsic_matrix.v[5] / height();
+    float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
+    float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
 
     const mat4 frame_transform = {{
       zx, 0.0, 0.0, 0.0,
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index a8bcccf3dd..90c823aa04 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -34,7 +34,7 @@
 // TODO: this is also hardcoded in common/transformations/camera.py
 // TODO: choose based on frame input size
 const float y_offset = Hardware::TICI() ? 150.0 : 0.0;
-const float zoom = Hardware::TICI() ? 2912.8 : 2138.5;
+const float ZOOM = Hardware::TICI() ? 2912.8 : 2138.5;
 
 typedef struct Rect {
   int x, y, w, h;
@@ -136,7 +136,6 @@ typedef struct UIState {
   Rect video_rect, viz_rect;
   float car_space_transform[6];
   bool wide_camera;
-  float zoom;
 } UIState;