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92 lines
3.0 KiB
92 lines
3.0 KiB
#include "selfdrive/ui/qt/offroad/driverview.h"
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#include <QPainter>
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#include "selfdrive/ui/qt/qt_window.h"
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#include "selfdrive/ui/qt/util.h"
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const int FACE_IMG_SIZE = 130;
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DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
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setAttribute(Qt::WA_OpaquePaintEvent);
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layout = new QStackedLayout(this);
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layout->setStackingMode(QStackedLayout::StackAll);
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cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this);
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layout->addWidget(cameraView);
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scene = new DriverViewScene(this);
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connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
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layout->addWidget(scene);
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layout->setCurrentWidget(scene);
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}
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void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
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cameraView->stopVipcThread();
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emit done();
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}
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DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
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face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
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}
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void DriverViewScene::showEvent(QShowEvent* event) {
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frame_updated = false;
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params.putBool("IsDriverViewEnabled", true);
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}
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void DriverViewScene::hideEvent(QHideEvent* event) {
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params.putBool("IsDriverViewEnabled", false);
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}
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void DriverViewScene::frameUpdated() {
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frame_updated = true;
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sm.update(0);
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update();
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}
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void DriverViewScene::paintEvent(QPaintEvent* event) {
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QPainter p(this);
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// startup msg
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if (!frame_updated) {
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p.setPen(Qt::white);
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p.setRenderHint(QPainter::TextAntialiasing);
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configFont(p, "Inter", 100, "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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cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
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cereal::DriverStateV2::DriverData::Reader driver_data;
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is_rhd = driver_state.getWheelOnRightProb() > 0.5;
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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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// icon
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const int img_offset = 60;
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const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
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const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
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p.setOpacity(face_detected ? 1.0 : 0.2);
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p.drawPixmap(img_x, img_y, face_img);
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}
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