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105 lines
2.9 KiB
105 lines
2.9 KiB
#pragma once
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#include <deque>
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#include <map>
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#include <memory>
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#include <set>
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#include <string>
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#include <utility>
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#include <QOpenGLFunctions>
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#include <QOpenGLShaderProgram>
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#include <QOpenGLWidget>
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#include <QTimer>
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#ifdef QCOM2
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#define EGL_EGLEXT_PROTOTYPES
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#define EGL_NO_X11
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#define GL_TEXTURE_EXTERNAL_OES 0x8D65
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#include <EGL/egl.h>
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#include <EGL/eglext.h>
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#include <drm/drm_fourcc.h>
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#endif
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#include "cereal/visionipc/visionipc_client.h"
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#include "system/camerad/cameras/camera_common.h"
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#include "selfdrive/ui/ui.h"
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const int FRAME_BUFFER_SIZE = 5;
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const uint32_t INVALID_FRAME_ID = -1;
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static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);
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class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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public:
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explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
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~CameraWidget();
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void setBackgroundColor(const QColor &color) { bg = color; }
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void setFrameId(int frame_id) { draw_frame_id = frame_id; }
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void setStreamType(VisionStreamType type) { stream_type = type; }
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inline VisionStreamType streamType() const { return stream_type; }
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inline const std::set<VisionStreamType> &availableStreams() const { return available_streams; }
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VisionBuf *receiveFrame(uint64_t request_frame_id = INVALID_FRAME_ID);
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signals:
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void vipcAvailableStreamsUpdated();
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void clicked();
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protected:
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bool ensureConnection();
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void paintGL() override;
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void initializeGL() override;
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void vipcConnected();
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void clearFrames();
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void clearEGLImages();
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void resizeGL(int w, int h) override { updateFrameMat(); }
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void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
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virtual void updateFrameMat();
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void updateCalibration(const mat3 &calib);
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int glWidth() const { return width() * devicePixelRatio(); }
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int glHeight() const { return height() * devicePixelRatio(); }
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bool zoomed_view;
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GLuint frame_vao, frame_vbo, frame_ibo;
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GLuint textures[2];
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mat4 frame_mat = {};
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std::unique_ptr<QOpenGLShaderProgram> program;
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QColor bg = QColor("#000000");
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#ifdef QCOM2
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std::map<int, EGLImageKHR> egl_images;
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#endif
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std::string stream_name;
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int stream_width = 0;
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int stream_height = 0;
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int stream_stride = 0;
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VisionStreamType stream_type;
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// Calibration
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float x_offset = 0;
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float y_offset = 0;
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float zoom = 1.0;
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mat3 calibration = DEFAULT_CALIBRATION;
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mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
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std::set<VisionStreamType> available_streams;
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std::unique_ptr<VisionIpcClient> vipc_client;
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std::deque<VisionBuf*> recent_frames;
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uint32_t draw_frame_id = INVALID_FRAME_ID;
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uint32_t prev_frame_id = INVALID_FRAME_ID;
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};
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// update frames based on timer
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class CameraView : public CameraWidget {
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Q_OBJECT
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public:
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CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
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void showEvent(QShowEvent *event) override;
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void hideEvent(QHideEvent *event) override;
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private:
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QTimer *timer;
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};
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