You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
109 lines
3.8 KiB
109 lines
3.8 KiB
import numpy as np
|
|
from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
|
|
|
|
# Color palette used for rerun AnnotationContext
|
|
rerunColorPalette = [(96, "red", (255, 0, 0)),
|
|
(100, "pink", (255, 36, 0)),
|
|
(124, "yellow", (255, 255, 0)),
|
|
(230, "vibrantpink", (255, 36, 170)),
|
|
(240, "orange", (255, 146, 0)),
|
|
(255, "white", (255, 255, 255)),
|
|
(110, "carColor", (255,0,127)),
|
|
(0, "background", (0, 0, 0))]
|
|
|
|
|
|
class UIParams:
|
|
lidar_x, lidar_y, lidar_zoom = 384, 960, 6
|
|
lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
|
|
car_hwidth = 1.7272 / 2 * lidar_zoom
|
|
car_front = 2.6924 * lidar_zoom
|
|
car_back = 1.8796 * lidar_zoom
|
|
car_color = rerunColorPalette[6][0]
|
|
UP = UIParams
|
|
|
|
|
|
def to_topdown_pt(y, x):
|
|
px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
|
|
if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
|
|
return int(px), int(py)
|
|
return -1, -1
|
|
|
|
|
|
def draw_path(path, lid_overlay, lid_color=None):
|
|
x, y = np.asarray(path.x), np.asarray(path.y)
|
|
# draw lidar path point on lidar
|
|
if lid_color is not None and lid_overlay is not None:
|
|
for i in range(len(x)):
|
|
px, py = to_topdown_pt(x[i], y[i])
|
|
if px != -1:
|
|
lid_overlay[px, py] = lid_color
|
|
|
|
|
|
def plot_model(m, lid_overlay):
|
|
if lid_overlay is None:
|
|
return
|
|
for lead in m.leadsV3:
|
|
if lead.prob < 0.5:
|
|
continue
|
|
x, y = lead.x[0], lead.y[0]
|
|
x_std = lead.xStd[0]
|
|
x -= RADAR_TO_CAMERA
|
|
_, py_top = to_topdown_pt(x + x_std, y)
|
|
px, py_bottom = to_topdown_pt(x - x_std, y)
|
|
lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
|
|
|
|
for path in m.laneLines:
|
|
draw_path(path, lid_overlay, rerunColorPalette[2][0])
|
|
for edge in m.roadEdges:
|
|
draw_path(edge, lid_overlay, rerunColorPalette[0][0])
|
|
draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
|
|
|
|
|
|
def plot_lead(rs, lid_overlay):
|
|
for lead in [rs.leadOne, rs.leadTwo]:
|
|
if not lead.status:
|
|
continue
|
|
x = lead.dRel
|
|
px_left, py = to_topdown_pt(x, -10)
|
|
px_right, _ = to_topdown_pt(x, 10)
|
|
lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
|
|
|
|
|
|
def update_radar_points(lt, lid_overlay):
|
|
ar_pts = []
|
|
if lt is not None:
|
|
ar_pts = {}
|
|
for track in lt:
|
|
ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
|
|
for ids, pt in ar_pts.items():
|
|
# negative here since radar is left positive
|
|
px, py = to_topdown_pt(pt[0], -pt[1])
|
|
if px != -1:
|
|
if pt[-1]:
|
|
color = rerunColorPalette[4][0]
|
|
elif pt[-2]:
|
|
color = rerunColorPalette[3][0]
|
|
else:
|
|
color = rerunColorPalette[5][0]
|
|
if int(ids) == 1:
|
|
lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
|
|
else:
|
|
lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
|
|
|
|
|
|
def get_blank_lid_overlay(UP):
|
|
lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
|
|
# Draw the car.
|
|
lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
|
|
round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
|
|
UP.car_front))] = UP.car_color
|
|
lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
|
|
round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
|
|
UP.car_back))] = UP.car_color
|
|
lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
|
|
round(UP.lidar_car_y - UP.car_front)):int(round(
|
|
UP.lidar_car_y + UP.car_back))] = UP.car_color
|
|
lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
|
|
round(UP.lidar_car_y - UP.car_front)):int(round(
|
|
UP.lidar_car_y + UP.car_back))] = UP.car_color
|
|
return lid_overlay
|
|
|