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82 lines
2.6 KiB
82 lines
2.6 KiB
#include "selfdrive/ui/qt/offroad/driverview.h"
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#include <algorithm>
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#include <QPainter>
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#include "selfdrive/ui/qt/util.h"
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DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, parent) {
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QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
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QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
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if (isVisible()) {
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emit done();
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}
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});
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}
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void DriverViewWindow::showEvent(QShowEvent* event) {
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params.putBool("IsDriverViewEnabled", true);
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device()->resetInteractiveTimeout(60);
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CameraWidget::showEvent(event);
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}
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void DriverViewWindow::hideEvent(QHideEvent* event) {
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params.putBool("IsDriverViewEnabled", false);
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stopVipcThread();
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CameraWidget::hideEvent(event);
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}
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void DriverViewWindow::paintGL() {
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CameraWidget::paintGL();
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std::lock_guard lk(frame_lock);
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QPainter p(this);
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// startup msg
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if (frames.empty()) {
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p.setPen(Qt::white);
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p.setRenderHint(QPainter::TextAntialiasing);
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p.setFont(InterFont(100, QFont::Bold));
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p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
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return;
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}
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const auto &sm = *(uiState()->sm);
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cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
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bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
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auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
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bool face_detected = driver_data.getFaceProb() > 0.7;
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if (face_detected) {
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auto fxy_list = driver_data.getFacePosition();
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auto std_list = driver_data.getFaceOrientationStd();
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float face_x = fxy_list[0];
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float face_y = fxy_list[1];
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float face_std = std::max(std_list[0], std_list[1]);
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float alpha = 0.7;
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if (face_std > 0.15) {
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alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0);
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}
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const int box_size = 220;
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// use approx instead of distort_points
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int fbox_x = 1080.0 - 1714.0 * face_x;
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int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y;
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p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10));
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p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0);
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}
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driver_monitor.updateState(*uiState());
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driver_monitor.draw(p, rect());
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}
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mat4 DriverViewWindow::calcFrameMatrix() {
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const float driver_view_ratio = 2.0;
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const float yscale = stream_height * driver_view_ratio / stream_width;
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const float xscale = yscale * glHeight() / glWidth() * stream_width / stream_height;
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return mat4{{
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xscale, 0.0, 0.0, 0.0,
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0.0, yscale, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0,
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}};
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}
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