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249 lines
9.7 KiB
249 lines
9.7 KiB
import time
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import numpy as np
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import pyray as rl
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from cereal import log, messaging
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from msgq.visionipc import VisionStreamType
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from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
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from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
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from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
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from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
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from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
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from openpilot.selfdrive.ui.onroad.cameraview import CameraView
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from openpilot.system.ui.lib.application import gui_app
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from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
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from openpilot.common.transformations.orientation import rot_from_euler
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OpState = log.SelfdriveState.OpenpilotState
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CALIBRATED = log.LiveCalibrationData.Status.calibrated
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ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
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WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
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DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
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BORDER_COLORS = {
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UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF), # Blue for disengaged state
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UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF), # Gray for override state
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UIStatus.ENGAGED: rl.Color(0x16, 0x7F, 0x40, 0xFF), # Green for engaged state
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}
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WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph)
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ROAD_CAM_MIN_SPEED = 15.0 # m/s (34 mph)
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class AugmentedRoadView(CameraView):
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def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
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super().__init__("camerad", stream_type)
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self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
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self.device_camera: DeviceCameraConfig | None = None
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self.view_from_calib = view_frame_from_device_frame.copy()
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self.view_from_wide_calib = view_frame_from_device_frame.copy()
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self._last_calib_time: float = 0
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self._last_rect_dims = (0.0, 0.0)
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self._last_stream_type = stream_type
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self._cached_matrix: np.ndarray | None = None
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self._content_rect = rl.Rectangle()
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self.model_renderer = ModelRenderer()
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self._hud_renderer = HudRenderer()
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self.alert_renderer = AlertRenderer()
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self.driver_state_renderer = DriverStateRenderer()
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# debug
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self._pm = messaging.PubMaster(['uiDebug'])
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def _render(self, rect):
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# Only render when system is started to avoid invalid data access
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start_draw = time.monotonic()
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if not ui_state.started:
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return
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self._switch_stream_if_needed(ui_state.sm)
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# Update calibration before rendering
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self._update_calibration()
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# Create inner content area with border padding
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self._content_rect = rl.Rectangle(
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rect.x + UI_BORDER_SIZE,
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rect.y + UI_BORDER_SIZE,
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rect.width - 2 * UI_BORDER_SIZE,
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rect.height - 2 * UI_BORDER_SIZE,
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)
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# Enable scissor mode to clip all rendering within content rectangle boundaries
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# This creates a rendering viewport that prevents graphics from drawing outside the border
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rl.begin_scissor_mode(
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int(self._content_rect.x),
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int(self._content_rect.y),
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int(self._content_rect.width),
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int(self._content_rect.height)
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)
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# Render the base camera view
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super()._render(rect)
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# Draw all UI overlays
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self.model_renderer.render(self._content_rect)
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self._hud_renderer.render(self._content_rect)
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self.alert_renderer.render(self._content_rect)
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self.driver_state_renderer.render(self._content_rect)
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# Custom UI extension point - add custom overlays here
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# Use self._content_rect for positioning within camera bounds
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# End clipping region
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rl.end_scissor_mode()
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# Draw colored border based on driving state
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self._draw_border(rect)
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# publish uiDebug
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msg = messaging.new_message('uiDebug')
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msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
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self._pm.send('uiDebug', msg)
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def _handle_mouse_press(self, _):
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if not self._hud_renderer.user_interacting() and self._click_callback is not None:
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self._click_callback()
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def _handle_mouse_release(self, _):
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# We only call click callback on press if not interacting with HUD
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pass
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def _draw_border(self, rect: rl.Rectangle):
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rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
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border_roundness = 0.12
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border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
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border_rect = rl.Rectangle(rect.x + UI_BORDER_SIZE, rect.y + UI_BORDER_SIZE,
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rect.width - 2 * UI_BORDER_SIZE, rect.height - 2 * UI_BORDER_SIZE)
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rl.draw_rectangle_rounded_lines_ex(border_rect, border_roundness, 10, UI_BORDER_SIZE, border_color)
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# black bg around colored border
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black_bg_thickness = UI_BORDER_SIZE
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black_bg_rect = rl.Rectangle(
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border_rect.x - UI_BORDER_SIZE,
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border_rect.y - UI_BORDER_SIZE,
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border_rect.width + 2 * UI_BORDER_SIZE,
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border_rect.height + 2 * UI_BORDER_SIZE,
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)
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edge_offset = (black_bg_rect.height - border_rect.height) / 2 # distance between rect edges
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roundness_out = (border_roundness * border_rect.height + 2 * edge_offset) / max(1.0, black_bg_rect.height)
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rl.draw_rectangle_rounded_lines_ex(black_bg_rect, roundness_out, 10, black_bg_thickness, rl.BLACK)
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rl.end_scissor_mode()
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def _switch_stream_if_needed(self, sm):
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if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
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v_ego = sm['carState'].vEgo
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if v_ego < WIDE_CAM_MAX_SPEED:
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target = WIDE_CAM
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elif v_ego > ROAD_CAM_MIN_SPEED:
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target = ROAD_CAM
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else:
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# Hysteresis zone - keep current stream
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target = self.stream_type
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else:
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target = ROAD_CAM
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if self.stream_type != target:
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self.switch_stream(target)
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def _update_calibration(self):
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# Update device camera if not already set
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sm = ui_state.sm
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if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
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self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
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# Check if live calibration data is available and valid
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if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
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return
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calib = sm['liveCalibration']
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if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
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return
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# Update view_from_calib matrix
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device_from_calib = rot_from_euler(calib.rpyCalib)
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self.view_from_calib = view_frame_from_device_frame @ device_from_calib
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# Update wide calibration if available
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if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3:
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wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
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self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
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def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
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# Check if we can use cached matrix
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calib_time = ui_state.sm.recv_frame['liveCalibration']
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current_dims = (self._content_rect.width, self._content_rect.height)
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if (self._last_calib_time == calib_time and
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self._last_rect_dims == current_dims and
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self._last_stream_type == self.stream_type and
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self._cached_matrix is not None):
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return self._cached_matrix
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# Get camera configuration
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device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
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is_wide_camera = self.stream_type == WIDE_CAM
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intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
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calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
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zoom = 2.0 if is_wide_camera else 1.1
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# Calculate transforms for vanishing point
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inf_point = np.array([1000.0, 0.0, 0.0])
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calib_transform = intrinsic @ calibration
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kep = calib_transform @ inf_point
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# Calculate center points and dimensions
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x, y = self._content_rect.x, self._content_rect.y
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w, h = self._content_rect.width, self._content_rect.height
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cx, cy = intrinsic[0, 2], intrinsic[1, 2]
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# Calculate max allowed offsets with margins
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margin = 5
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max_x_offset = cx * zoom - w / 2 - margin
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max_y_offset = cy * zoom - h / 2 - margin
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# Calculate and clamp offsets to prevent out-of-bounds issues
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try:
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if abs(kep[2]) > 1e-6:
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x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset)
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y_offset = np.clip((kep[1] / kep[2] - cy) * zoom, -max_y_offset, max_y_offset)
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else:
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x_offset, y_offset = 0, 0
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except (ZeroDivisionError, OverflowError):
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x_offset, y_offset = 0, 0
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# Cache the computed transformation matrix to avoid recalculations
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self._last_calib_time = calib_time
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self._last_rect_dims = current_dims
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self._last_stream_type = self.stream_type
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self._cached_matrix = np.array([
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[zoom * 2 * cx / w, 0, -x_offset / w * 2],
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[0, zoom * 2 * cy / h, -y_offset / h * 2],
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[0, 0, 1.0]
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])
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video_transform = np.array([
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[zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
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[0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
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[0.0, 0.0, 1.0]
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])
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self.model_renderer.set_transform(video_transform @ calib_transform)
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return self._cached_matrix
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if __name__ == "__main__":
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gui_app.init_window("OnRoad Camera View")
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road_camera_view = AugmentedRoadView(ROAD_CAM)
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print("***press space to switch camera view***")
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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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if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
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if WIDE_CAM in road_camera_view.available_streams:
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stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
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road_camera_view.switch_stream(stream)
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road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
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finally:
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road_camera_view.close()
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