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107 lines
3.4 KiB
107 lines
3.4 KiB
import numpy as np
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import pyray as rl
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from msgq.visionipc import VisionStreamType
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from openpilot.selfdrive.ui.onroad.cameraview import CameraView
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from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
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from openpilot.selfdrive.ui.ui_state import ui_state, device
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from openpilot.system.ui.lib.application import gui_app, FontWeight
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from openpilot.system.ui.lib.multilang import tr
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from openpilot.system.ui.widgets.label import gui_label
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class DriverCameraDialog(CameraView):
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def __init__(self):
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super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
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self.driver_state_renderer = DriverStateRenderer()
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# TODO: this can grow unbounded, should be given some thought
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device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
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ui_state.params.put_bool("IsDriverViewEnabled", True)
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def stop_dmonitoringmodeld(self):
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ui_state.params.put_bool("IsDriverViewEnabled", False)
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gui_app.set_modal_overlay(None)
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def _handle_mouse_release(self, _):
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super()._handle_mouse_release(_)
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self.stop_dmonitoringmodeld()
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def _render(self, rect):
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super()._render(rect)
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if not self.frame:
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gui_label(
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rect,
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tr("camera starting"),
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font_size=100,
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font_weight=FontWeight.BOLD,
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alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
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)
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return -1
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self._draw_face_detection(rect)
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self.driver_state_renderer.render(rect)
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return -1
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def _draw_face_detection(self, rect: rl.Rectangle) -> None:
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driver_state = ui_state.sm["driverStateV2"]
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is_rhd = driver_state.wheelOnRightProb > 0.5
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driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
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face_detect = driver_data.faceProb > 0.7
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if not face_detect:
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return
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# Get face position and orientation
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face_x, face_y = driver_data.facePosition
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face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
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alpha = 0.7
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if face_std > 0.15:
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alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0)
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# use approx instead of distort_points
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# TODO: replace with distort_points
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fbox_x = int(1080.0 - 1714.0 * face_x)
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fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y)
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box_size = 220
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line_color = rl.Color(255, 255, 255, int(alpha * 255))
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rl.draw_rectangle_rounded_lines_ex(
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rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size),
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35.0 / box_size / 2,
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10,
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10,
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line_color,
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)
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def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
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driver_view_ratio = 2.0
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# Get stream dimensions
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if self.frame:
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stream_width = self.frame.width
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stream_height = self.frame.height
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else:
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# Default values if frame not available
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stream_width = 1928
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stream_height = 1208
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yscale = stream_height * driver_view_ratio / stream_width
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xscale = yscale * rect.height / rect.width * stream_width / stream_height
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return np.array([
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[xscale, 0.0, 0.0],
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[0.0, yscale, 0.0],
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[0.0, 0.0, 1.0]
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])
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if __name__ == "__main__":
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gui_app.init_window("Driver Camera View")
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driver_camera_view = DriverCameraDialog()
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try:
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for _ in gui_app.render():
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ui_state.update()
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driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
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finally:
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driver_camera_view.close()
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