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48 lines
1.2 KiB
48 lines
1.2 KiB
#pragma once
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#include <memory>
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#include <QOpenGLFunctions>
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#include <QOpenGLShaderProgram>
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#include <QOpenGLWidget>
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#include "cereal/visionipc/visionipc_client.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/visionimg.h"
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#include "selfdrive/ui/ui.h"
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class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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public:
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using QOpenGLWidget::QOpenGLWidget;
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explicit CameraViewWidget(VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
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~CameraViewWidget();
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void setStreamType(VisionStreamType type);
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signals:
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void clicked();
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void frameUpdated();
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protected:
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void paintGL() override;
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void resizeGL(int w, int h) override;
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void initializeGL() override;
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void hideEvent(QHideEvent *event) override;
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void mouseReleaseEvent(QMouseEvent *event) override;
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void updateFrameMat(int w, int h);
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std::unique_ptr<VisionIpcClient> vipc_client;
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protected slots:
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void updateFrame();
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private:
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bool zoomed_view;
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VisionBuf *latest_frame = nullptr;
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GLuint frame_vao, frame_vbo, frame_ibo;
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mat4 frame_mat;
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std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
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QOpenGLShaderProgram *program;
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VisionStreamType stream_type;
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};
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