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268 lines
8.4 KiB
268 lines
8.4 KiB
import itertools
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from typing import Any, Dict, Tuple
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import matplotlib.pyplot as plt
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import numpy as np
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import pygame # pylint: disable=import-error
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from matplotlib.backends.backend_agg import FigureCanvasAgg
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from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
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tici_f_frame_size, tici_f_focal_length,
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get_view_frame_from_calib_frame)
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from selfdrive.controls.lib.radar_helpers import RADAR_TO_CAMERA
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RED = (255, 0, 0)
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GREEN = (0, 255, 0)
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BLUE = (0, 0, 255)
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YELLOW = (255, 255, 0)
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BLACK = (0, 0, 0)
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WHITE = (255, 255, 255)
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_FULL_FRAME_SIZE = {
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}
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class UIParams:
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lidar_x, lidar_y, lidar_zoom = 384, 960, 6
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lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
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car_hwidth = 1.7272 / 2 * lidar_zoom
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car_front = 2.6924 * lidar_zoom
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car_back = 1.8796 * lidar_zoom
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car_color = 110
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UP = UIParams
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_BB_TO_FULL_FRAME = {}
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_CALIB_BB_TO_FULL = {}
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_FULL_FRAME_TO_BB = {}
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_INTRINSICS = {}
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eon_f_qcam_frame_size = (480, 360)
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tici_f_qcam_frame_size = (528, 330)
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cams = [(eon_f_frame_size, eon_f_focal_length, eon_f_frame_size),
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(tici_f_frame_size, tici_f_focal_length, tici_f_frame_size),
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(eon_f_qcam_frame_size, eon_f_focal_length, eon_f_frame_size),
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(tici_f_qcam_frame_size, tici_f_focal_length, tici_f_frame_size)]
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for size, focal, full_size in cams:
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sz = size[0] * size[1]
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_BB_SCALE = size[0] / 640.
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_BB_TO_FULL_FRAME[sz] = np.asarray([
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[_BB_SCALE, 0., 0.],
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[0., _BB_SCALE, 0.],
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[0., 0., 1.]])
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calib_scale = full_size[0] / 640.
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_CALIB_BB_TO_FULL[sz] = np.asarray([
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[calib_scale, 0., 0.],
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[0., calib_scale, 0.],
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[0., 0., 1.]])
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_FULL_FRAME_TO_BB[sz] = np.linalg.inv(_BB_TO_FULL_FRAME[sz])
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_FULL_FRAME_SIZE[sz] = (size[0], size[1])
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_INTRINSICS[sz] = np.array([
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[focal, 0., full_size[0] / 2.],
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[0., focal, full_size[1] / 2.],
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[0., 0., 1.]])
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METER_WIDTH = 20
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class Calibration:
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def __init__(self, num_px, rpy, intrinsic):
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self.intrinsic = intrinsic
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self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
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self.zoom = _CALIB_BB_TO_FULL[num_px][0, 0]
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def car_space_to_ff(self, x, y, z):
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car_space_projective = np.column_stack((x, y, z)).T
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ep = self.extrinsics_matrix.dot(car_space_projective)
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kep = self.intrinsic.dot(ep)
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return (kep[:-1, :] / kep[-1, :]).T
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def car_space_to_bb(self, x, y, z):
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pts = self.car_space_to_ff(x, y, z)
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return pts / self.zoom
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_COLOR_CACHE : Dict[Tuple[int, int, int], Any] = {}
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def find_color(lidar_surface, color):
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if color in _COLOR_CACHE:
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return _COLOR_CACHE[color]
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tcolor = 0
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ret = 255
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for x in lidar_surface.get_palette():
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if x[0:3] == color:
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ret = tcolor
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break
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tcolor += 1
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_COLOR_CACHE[color] = ret
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return ret
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def to_topdown_pt(y, x):
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px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
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if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
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return int(px), int(py)
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return -1, -1
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def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
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x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
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pts = calibration.car_space_to_bb(x, y, z)
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pts = np.round(pts).astype(int)
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# draw lidar path point on lidar
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# find color in 8 bit
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if lid_color is not None and top_down is not None:
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tcolor = find_color(top_down[0], lid_color)
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for i in range(len(x)):
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px, py = to_topdown_pt(x[i], y[i])
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if px != -1:
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top_down[1][px, py] = tcolor
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height, width = img.shape[:2]
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for x, y in pts:
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if 1 < x < width - 1 and 1 < y < height - 1:
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for a, b in itertools.permutations([-1, 0, -1], 2):
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img[y + a, x + b] = color
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def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
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color_palette = { "r": (1, 0, 0),
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"g": (0, 1, 0),
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"b": (0, 0, 1),
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"k": (0, 0, 0),
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"y": (1, 1, 0),
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"p": (0, 1, 1),
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"m": (1, 0, 1)}
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dpi = 90
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fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
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canvas = FigureCanvasAgg(fig)
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fig.set_facecolor((0.2, 0.2, 0.2))
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axs = []
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for pn in range(len(plot_ylims)):
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ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
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ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
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ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
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ax.patch.set_facecolor((0.4, 0.4, 0.4))
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axs.append(ax)
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plots, idxs, plot_select = [], [], []
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for i, pl_list in enumerate(plot_names):
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for j, item in enumerate(pl_list):
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plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
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label=item,
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color=color_palette[plot_colors[i][j]],
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linestyle=plot_styles[i][j])
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plots.append(plot)
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idxs.append(name_to_arr_idx[item])
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plot_select.append(i)
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axs[i].set_title(", ".join(f"{nm} ({cl})"
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for (nm, cl) in zip(pl_list, plot_colors[i])), fontsize=10)
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axs[i].tick_params(axis="x", colors="white")
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axs[i].tick_params(axis="y", colors="white")
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axs[i].title.set_color("white")
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if i < len(plot_ylims) - 1:
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axs[i].set_xticks([])
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canvas.draw()
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def draw_plots(arr):
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for ax in axs:
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ax.draw_artist(ax.patch)
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for i in range(len(plots)):
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plots[i].set_ydata(arr[:, idxs[i]])
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axs[plot_select[i]].draw_artist(plots[i])
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raw_data = canvas.buffer_rgba()
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plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
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return plot_surface
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return draw_plots
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def pygame_modules_have_loaded():
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return pygame.display.get_init() and pygame.font.get_init()
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def plot_model(m, img, calibration, top_down):
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if calibration is None or top_down is None:
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return
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for lead in m.leadsV3:
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if lead.prob < 0.5:
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continue
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x, y = lead.x[0], lead.y[0]
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x_std = lead.xStd[0]
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x -= RADAR_TO_CAMERA
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_, py_top = to_topdown_pt(x + x_std, y)
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px, py_bottom = to_topdown_pt(x - x_std, y)
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top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
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for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds):
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color = (0, int(255 * prob), 0)
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draw_path(path, color, img, calibration, top_down, YELLOW)
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for edge, std in zip(m.roadEdges, m.roadEdgeStds):
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prob = max(1 - std, 0)
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color = (int(255 * prob), 0, 0)
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draw_path(edge, color, img, calibration, top_down, RED)
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color = (255, 0, 0)
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draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
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def plot_lead(rs, top_down):
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for lead in [rs.leadOne, rs.leadTwo]:
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if not lead.status:
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continue
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x = lead.dRel
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px_left, py = to_topdown_pt(x, -10)
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px_right, _ = to_topdown_pt(x, 10)
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top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
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def maybe_update_radar_points(lt, lid_overlay):
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ar_pts = []
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if lt is not None:
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ar_pts = {}
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for track in lt:
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ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
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for ids, pt in ar_pts.items():
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# negative here since radar is left positive
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px, py = to_topdown_pt(pt[0], -pt[1])
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if px != -1:
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if pt[-1]:
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color = 240
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elif pt[-2]:
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color = 230
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else:
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color = 255
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if int(ids) == 1:
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lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
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else:
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lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
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def get_blank_lid_overlay(UP):
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lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
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# Draw the car.
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lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
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round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
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UP.car_front))] = UP.car_color
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lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
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round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
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UP.car_back))] = UP.car_color
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lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
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round(UP.lidar_car_y - UP.car_front)):int(round(
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UP.lidar_car_y + UP.car_back))] = UP.car_color
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lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
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round(UP.lidar_car_y - UP.car_front)):int(round(
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UP.lidar_car_y + UP.car_back))] = UP.car_color
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return lid_overlay
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