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39 lines
1.6 KiB
39 lines
1.6 KiB
#pragma once
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#include <QPainter>
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#include <QPolygonF>
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#include "selfdrive/ui/ui.h"
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class ModelRenderer {
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public:
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ModelRenderer() {}
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void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
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void draw(QPainter &painter, const QRect &surface_rect);
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private:
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bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
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void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
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QPolygonF *pvd, int max_idx, bool allow_invert = true);
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void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
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void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
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void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
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void drawLaneLines(QPainter &painter);
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void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
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void updatePathGradient(QLinearGradient &bg);
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QColor blendColors(const QColor &start, const QColor &end, float t);
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bool longitudinal_control = false;
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bool experimental_mode = false;
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float blend_factor = 1.0f;
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bool prev_allow_throttle = true;
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float lane_line_probs[4] = {};
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float road_edge_stds[2] = {};
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float path_offset_z = 1.22f;
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QPolygonF track_vertices;
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QPolygonF lane_line_vertices[4] = {};
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QPolygonF road_edge_vertices[2] = {};
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QPointF lead_vertices[2] = {};
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Eigen::Matrix3f car_space_transform = Eigen::Matrix3f::Zero();
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QRectF clip_region;
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};
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