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openpilot/selfdrive/ui/paint.cc

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#include "paint.h"
#include <assert.h>
#include <algorithm>
#ifdef __APPLE__
#include <OpenGL/gl3.h>
#define NANOVG_GL3_IMPLEMENTATION
#define nvgCreate nvgCreateGL3
#else
#include <GLES3/gl3.h>
#define NANOVG_GLES3_IMPLEMENTATION
#define nvgCreate nvgCreateGLES3
#endif
#define NANOVG_GLES3_IMPLEMENTATION
#include <nanovg_gl.h>
#include <nanovg_gl_utils.h>
#include "selfdrive/common/timing.h"
#include "selfdrive/common/util.h"
#include "selfdrive/hardware/hw.h"
#include "selfdrive/ui/ui.h"
// TODO: this is also hardcoded in common/transformations/camera.py
// TODO: choose based on frame input size
const float y_offset = Hardware::TICI() ? 150.0 : 0.0;
const float zoom = Hardware::TICI() ? 2912.8 : 2138.5;
static void ui_draw_text(const UIState *s, float x, float y, const char *string, float size, NVGcolor color, const char *font_name) {
nvgFontFace(s->vg, font_name);
nvgFontSize(s->vg, size);
nvgFillColor(s->vg, color);
nvgText(s->vg, x, y, string, NULL);
}
static void draw_chevron(UIState *s, float x, float y, float sz, NVGcolor fillColor, NVGcolor glowColor) {
// glow
float g_xo = sz/5;
float g_yo = sz/10;
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, x+(sz*1.35)+g_xo, y+sz+g_yo);
nvgLineTo(s->vg, x, y-g_xo);
nvgLineTo(s->vg, x-(sz*1.35)-g_xo, y+sz+g_yo);
nvgClosePath(s->vg);
nvgFillColor(s->vg, glowColor);
nvgFill(s->vg);
// chevron
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, x+(sz*1.25), y+sz);
nvgLineTo(s->vg, x, y);
nvgLineTo(s->vg, x-(sz*1.25), y+sz);
nvgClosePath(s->vg);
nvgFillColor(s->vg, fillColor);
nvgFill(s->vg);
}
static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, int radius, const char *image, NVGcolor color, float img_alpha) {
nvgBeginPath(s->vg);
nvgCircle(s->vg, center_x, center_y, radius);
nvgFillColor(s->vg, color);
nvgFill(s->vg);
const int img_size = radius * 1.5;
ui_draw_image(s, {center_x - (img_size / 2), center_y - (img_size / 2), img_size, img_size}, image, img_alpha);
}
static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, int radius, const char *image, bool active) {
float bg_alpha = active ? 0.3f : 0.1f;
float img_alpha = active ? 1.0f : 0.15f;
ui_draw_circle_image(s, center_x, center_y, radius, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha);
}
static void draw_lead(UIState *s, const cereal::RadarState::LeadData::Reader &lead_data, const vertex_data &vd) {
// Draw lead car indicator
auto [x, y] = vd;
float fillAlpha = 0;
float speedBuff = 10.;
float leadBuff = 40.;
float d_rel = lead_data.getDRel();
float v_rel = lead_data.getVRel();
if (d_rel < leadBuff) {
fillAlpha = 255*(1.0-(d_rel/leadBuff));
if (v_rel < 0) {
fillAlpha += 255*(-1*(v_rel/speedBuff));
}
fillAlpha = (int)(fmin(fillAlpha, 255));
}
float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * s->zoom;
x = std::clamp(x, 0.f, s->viz_rect.right() - sz / 2);
y = std::fmin(s->viz_rect.bottom() - sz * .6, y);
draw_chevron(s, x, y, sz, nvgRGBA(201, 34, 49, fillAlpha), COLOR_YELLOW);
}
static void ui_draw_line(UIState *s, const line_vertices_data &vd, NVGcolor *color, NVGpaint *paint) {
if (vd.cnt == 0) return;
const vertex_data *v = &vd.v[0];
nvgBeginPath(s->vg);
nvgMoveTo(s->vg, v[0].x, v[0].y);
for (int i = 1; i < vd.cnt; i++) {
nvgLineTo(s->vg, v[i].x, v[i].y);
}
nvgClosePath(s->vg);
if (color) {
nvgFillColor(s->vg, *color);
} else if (paint) {
nvgFillPaint(s->vg, *paint);
}
nvgFill(s->vg);
}
static void draw_frame(UIState *s) {
mat4 *out_mat;
if (s->scene.driver_view) {
glBindVertexArray(s->frame_vao[1]);
out_mat = &s->front_frame_mat;
} else {
glBindVertexArray(s->frame_vao[0]);
out_mat = &s->rear_frame_mat;
}
glActiveTexture(GL_TEXTURE0);
if (s->last_frame) {
glBindTexture(GL_TEXTURE_2D, s->texture[s->last_frame->idx]->frame_tex);
if (!Hardware::EON()) {
// this is handled in ion on QCOM
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, s->last_frame->width, s->last_frame->height,
0, GL_RGB, GL_UNSIGNED_BYTE, s->last_frame->addr);
}
}
glUseProgram(s->gl_shader->prog);
glUniform1i(s->gl_shader->getUniformLocation("uTexture"), 0);
glUniformMatrix4fv(s->gl_shader->getUniformLocation("uTransform"), 1, GL_TRUE, out_mat->v);
assert(glGetError() == GL_NO_ERROR);
glEnableVertexAttribArray(0);
glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0);
glDisableVertexAttribArray(0);
glBindVertexArray(0);
}
static void ui_draw_vision_lane_lines(UIState *s) {
const UIScene &scene = s->scene;
NVGpaint track_bg;
if (!scene.end_to_end) {
// paint lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene.lane_line_probs[i]);
ui_draw_line(s, scene.lane_line_vertices[i], &color, nullptr);
}
// paint road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); i++) {
NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
ui_draw_line(s, scene.road_edge_vertices[i], &color, nullptr);
}
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
COLOR_WHITE, COLOR_WHITE_ALPHA(0));
} else {
track_bg = nvgLinearGradient(s->vg, s->fb_w, s->fb_h, s->fb_w, s->fb_h * .4,
COLOR_RED, COLOR_RED_ALPHA(0));
}
// paint path
ui_draw_line(s, scene.track_vertices, nullptr, &track_bg);
}
// Draw all world space objects.
static void ui_draw_world(UIState *s) {
// Don't draw on top of sidebar
nvgScissor(s->vg, s->viz_rect.x, s->viz_rect.y, s->viz_rect.w, s->viz_rect.h);
// Draw lane edges and vision/mpc tracks
ui_draw_vision_lane_lines(s);
// Draw lead indicators if openpilot is handling longitudinal
if (s->scene.longitudinal_control) {
auto radar_state = (*s->sm)["radarState"].getRadarState();
auto lead_one = radar_state.getLeadOne();
auto lead_two = radar_state.getLeadTwo();
if (lead_one.getStatus()) {
draw_lead(s, lead_one, s->scene.lead_vertices[0]);
}
if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
draw_lead(s, lead_two, s->scene.lead_vertices[1]);
}
}
nvgResetScissor(s->vg);
}
static void ui_draw_vision_maxspeed(UIState *s) {
const int SET_SPEED_NA = 255;
float maxspeed = (*s->sm)["controlsState"].getControlsState().getVCruise();
const bool is_cruise_set = maxspeed != 0 && maxspeed != SET_SPEED_NA;
if (is_cruise_set && !s->scene.is_metric) { maxspeed *= 0.6225; }
const Rect rect = {s->viz_rect.x + (bdr_s * 2), int(s->viz_rect.y + (bdr_s * 1.5)), 184, 202};
ui_fill_rect(s->vg, rect, COLOR_BLACK_ALPHA(100), 30.);
ui_draw_rect(s->vg, rect, COLOR_WHITE_ALPHA(100), 10, 20.);
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
ui_draw_text(s, rect.centerX(), 148, "MAX", 26 * 2.5, COLOR_WHITE_ALPHA(is_cruise_set ? 200 : 100), "sans-regular");
if (is_cruise_set) {
const std::string maxspeed_str = std::to_string((int)std::nearbyint(maxspeed));
ui_draw_text(s, rect.centerX(), 242, maxspeed_str.c_str(), 48 * 2.5, COLOR_WHITE, "sans-bold");
} else {
ui_draw_text(s, rect.centerX(), 242, "N/A", 42 * 2.5, COLOR_WHITE_ALPHA(100), "sans-semibold");
}
}
static void ui_draw_vision_speed(UIState *s) {
const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
const std::string speed_str = std::to_string((int)std::nearbyint(speed));
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
ui_draw_text(s, s->viz_rect.centerX(), 240, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
ui_draw_text(s, s->viz_rect.centerX(), 320, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
}
static void ui_draw_vision_event(UIState *s) {
if ((*s->sm)["controlsState"].getControlsState().getEngageable()) {
// draw steering wheel
const int radius = 96;
const int center_x = s->viz_rect.right() - radius - bdr_s * 2;
const int center_y = s->viz_rect.y + radius + (bdr_s * 1.5);
ui_draw_circle_image(s, center_x, center_y, radius, "wheel", bg_colors[s->status], 1.0f);
}
}
static void ui_draw_vision_face(UIState *s) {
const int radius = 96;
const int center_x = s->viz_rect.x + radius + (bdr_s * 2);
const int center_y = s->viz_rect.bottom() - footer_h / 2;
bool is_active = (*s->sm)["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
ui_draw_circle_image(s, center_x, center_y, radius, "driver_face", is_active);
}
static void ui_draw_driver_view(UIState *s) {
const bool is_rhd = s->scene.is_rhd;
const int width = 4 * s->viz_rect.h / 3;
const Rect rect = {s->viz_rect.centerX() - width / 2, s->viz_rect.y, width, s->viz_rect.h}; // x, y, w, h
const Rect valid_rect = {is_rhd ? rect.right() - rect.h / 2 : rect.x, rect.y, rect.h / 2, rect.h};
// blackout
const int blackout_x_r = valid_rect.right();
const Rect &blackout_rect = Hardware::TICI() ? s->viz_rect : rect;
const int blackout_w_r = blackout_rect.right() - valid_rect.right();
const int blackout_x_l = blackout_rect.x;
const int blackout_w_l = valid_rect.x - blackout_x_l;
ui_fill_rect(s->vg, {blackout_x_l, rect.y, blackout_w_l, rect.h}, COLOR_BLACK_ALPHA(144));
ui_fill_rect(s->vg, {blackout_x_r, rect.y, blackout_w_r, rect.h}, COLOR_BLACK_ALPHA(144));
auto driver_state = (*s->sm)["driverState"].getDriverState();
const bool face_detected = driver_state.getFaceProb() > 0.4;
if (face_detected) {
auto fxy_list = driver_state.getFacePosition();
float face_x = fxy_list[0];
float face_y = fxy_list[1];
int fbox_x = valid_rect.centerX() + (is_rhd ? face_x : -face_x) * valid_rect.w;
int fbox_y = valid_rect.centerY() + face_y * valid_rect.h;
float alpha = 0.2;
if (face_x = std::abs(face_x), face_y = std::abs(face_y); face_x <= 0.35 && face_y <= 0.4)
alpha = 0.8 - (face_x > face_y ? face_x : face_y) * 0.6 / 0.375;
const int box_size = 0.6 * rect.h / 2;
ui_draw_rect(s->vg, {fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size}, nvgRGBAf(1.0, 1.0, 1.0, alpha), 10, 35.);
}
// draw face icon
const int face_radius = 85;
const int center_x = is_rhd ? rect.right() - face_radius - bdr_s * 2 : rect.x + face_radius + bdr_s * 2;
const int center_y = rect.bottom() - face_radius - bdr_s * 2.5;
ui_draw_circle_image(s, center_x, center_y, face_radius, "driver_face", face_detected);
}
static void ui_draw_vision_header(UIState *s) {
NVGpaint gradient = nvgLinearGradient(s->vg, s->viz_rect.x,
s->viz_rect.y+(header_h-(header_h/2.5)),
s->viz_rect.x, s->viz_rect.y+header_h,
nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
ui_fill_rect(s->vg, {s->viz_rect.x, s->viz_rect.y, s->viz_rect.w, header_h}, gradient);
ui_draw_vision_maxspeed(s);
ui_draw_vision_speed(s);
ui_draw_vision_event(s);
}
static void ui_draw_vision_frame(UIState *s) {
// Draw video frames
glEnable(GL_SCISSOR_TEST);
glViewport(s->video_rect.x, s->video_rect.y, s->video_rect.w, s->video_rect.h);
glScissor(s->viz_rect.x, s->viz_rect.y, s->viz_rect.w, s->viz_rect.h);
draw_frame(s);
glDisable(GL_SCISSOR_TEST);
glViewport(0, 0, s->fb_w, s->fb_h);
}
static void ui_draw_vision(UIState *s) {
const UIScene *scene = &s->scene;
if (!scene->driver_view) {
// Draw augmented elements
if (scene->world_objects_visible) {
ui_draw_world(s);
}
// Set Speed, Current Speed, Status/Events
ui_draw_vision_header(s);
if ((*s->sm)["controlsState"].getControlsState().getAlertSize() == cereal::ControlsState::AlertSize::NONE) {
ui_draw_vision_face(s);
}
} else {
ui_draw_driver_view(s);
}
}
static void ui_draw_background(UIState *s) {
const NVGcolor color = bg_colors[s->status];
glClearColor(color.r, color.g, color.b, 1.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
}
void ui_draw(UIState *s, int w, int h) {
s->viz_rect = Rect{bdr_s, bdr_s, w - 2 * bdr_s, h - 2 * bdr_s};
const bool draw_vision = s->scene.started && s->vipc_client->connected;
// GL drawing functions
ui_draw_background(s);
if (draw_vision) {
ui_draw_vision_frame(s);
}
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glViewport(0, 0, s->fb_w, s->fb_h);
// NVG drawing functions - should be no GL inside NVG frame
nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
if (draw_vision) {
ui_draw_vision(s);
}
if (s->scene.driver_view && !s->vipc_client->connected) {
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
ui_draw_text(s, s->viz_rect.centerX(), s->viz_rect.centerY(), "Please wait for camera to start", 40 * 2.5, COLOR_WHITE, "sans-bold");
}
nvgEndFrame(s->vg);
glDisable(GL_BLEND);
}
void ui_draw_image(const UIState *s, const Rect &r, const char *name, float alpha) {
nvgBeginPath(s->vg);
NVGpaint imgPaint = nvgImagePattern(s->vg, r.x, r.y, r.w, r.h, 0, s->images.at(name), alpha);
nvgRect(s->vg, r.x, r.y, r.w, r.h);
nvgFillPaint(s->vg, imgPaint);
nvgFill(s->vg);
}
void ui_draw_rect(NVGcontext *vg, const Rect &r, NVGcolor color, int width, float radius) {
nvgBeginPath(vg);
radius > 0 ? nvgRoundedRect(vg, r.x, r.y, r.w, r.h, radius) : nvgRect(vg, r.x, r.y, r.w, r.h);
nvgStrokeColor(vg, color);
nvgStrokeWidth(vg, width);
nvgStroke(vg);
}
static inline void fill_rect(NVGcontext *vg, const Rect &r, const NVGcolor *color, const NVGpaint *paint, float radius) {
nvgBeginPath(vg);
radius > 0 ? nvgRoundedRect(vg, r.x, r.y, r.w, r.h, radius) : nvgRect(vg, r.x, r.y, r.w, r.h);
if (color) nvgFillColor(vg, *color);
if (paint) nvgFillPaint(vg, *paint);
nvgFill(vg);
}
void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGcolor &color, float radius) {
fill_rect(vg, r, &color, nullptr, radius);
}
void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGpaint &paint, float radius) {
fill_rect(vg, r, nullptr, &paint, radius);
}
static const char frame_vertex_shader[] =
#ifdef NANOVG_GL3_IMPLEMENTATION
"#version 150 core\n"
#else
"#version 300 es\n"
#endif
"in vec4 aPosition;\n"
"in vec4 aTexCoord;\n"
"uniform mat4 uTransform;\n"
"out vec4 vTexCoord;\n"
"void main() {\n"
" gl_Position = uTransform * aPosition;\n"
" vTexCoord = aTexCoord;\n"
"}\n";
static const char frame_fragment_shader[] =
#ifdef NANOVG_GL3_IMPLEMENTATION
"#version 150 core\n"
#else
"#version 300 es\n"
#endif
"precision mediump float;\n"
"uniform sampler2D uTexture;\n"
"in vec4 vTexCoord;\n"
"out vec4 colorOut;\n"
"void main() {\n"
" colorOut = texture(uTexture, vTexCoord.xy);\n"
#ifdef QCOM
" vec3 dz = vec3(0.0627f, 0.0627f, 0.0627f);\n"
" colorOut.rgb = ((vec3(1.0f, 1.0f, 1.0f) - dz) * colorOut.rgb / vec3(1.0f, 1.0f, 1.0f)) + dz;\n"
#endif
"}\n";
static const mat4 device_transform = {{
1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
static mat4 get_driver_view_transform() {
const float driver_view_ratio = 1.333;
mat4 transform;
if (Hardware::TICI()) {
// from dmonitoring.cc
const int full_width_tici = 1928;
const int full_height_tici = 1208;
const int adapt_width_tici = 668;
const int crop_x_offset = 32;
const int crop_y_offset = -196;
const float yscale = full_height_tici * driver_view_ratio / adapt_width_tici;
const float xscale = yscale*(1080-2*bdr_s)/(2160-2*bdr_s)*full_width_tici/full_height_tici;
transform = (mat4){{
xscale, 0.0, 0.0, xscale*crop_x_offset/full_width_tici*2,
0.0, yscale, 0.0, yscale*crop_y_offset/full_height_tici*2,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
} else {
// frame from 4/3 to 16/9 display
transform = (mat4){{
driver_view_ratio*(1080-2*bdr_s)/(1920-2*bdr_s), 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
}
return transform;
}
void ui_nvg_init(UIState *s) {
// init drawing
// on EON, we enable MSAA
s->vg = Hardware::EON() ? nvgCreate(0) : nvgCreate(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
assert(s->vg);
// init fonts
std::pair<const char *, const char *> fonts[] = {
{"sans-regular", "../assets/fonts/opensans_regular.ttf"},
{"sans-semibold", "../assets/fonts/opensans_semibold.ttf"},
{"sans-bold", "../assets/fonts/opensans_bold.ttf"},
};
for (auto [name, file] : fonts) {
int font_id = nvgCreateFont(s->vg, name, file);
assert(font_id >= 0);
}
// init images
std::vector<std::pair<const char *, const char *>> images = {
{"wheel", "../assets/img_chffr_wheel.png"},
{"driver_face", "../assets/img_driver_face.png"},
};
for (auto [name, file] : images) {
s->images[name] = nvgCreateImage(s->vg, file, 1);
assert(s->images[name] != 0);
}
// init gl
s->gl_shader = std::make_unique<GLShader>(frame_vertex_shader, frame_fragment_shader);
GLint frame_pos_loc = glGetAttribLocation(s->gl_shader->prog, "aPosition");
GLint frame_texcoord_loc = glGetAttribLocation(s->gl_shader->prog, "aTexCoord");
glViewport(0, 0, s->fb_w, s->fb_h);
glDisable(GL_DEPTH_TEST);
assert(glGetError() == GL_NO_ERROR);
for (int i = 0; i < 2; i++) {
float x1, x2, y1, y2;
if (i == 1) {
// flip horizontally so it looks like a mirror
x1 = 0.0;
x2 = 1.0;
y1 = 1.0;
y2 = 0.0;
} else {
x1 = 1.0;
x2 = 0.0;
y1 = 1.0;
y2 = 0.0;
}
const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
const float frame_coords[4][4] = {
{-1.0, -1.0, x2, y1}, //bl
{-1.0, 1.0, x2, y2}, //tl
{ 1.0, 1.0, x1, y2}, //tr
{ 1.0, -1.0, x1, y1}, //br
};
glGenVertexArrays(1, &s->frame_vao[i]);
glBindVertexArray(s->frame_vao[i]);
glGenBuffers(1, &s->frame_vbo[i]);
glBindBuffer(GL_ARRAY_BUFFER, s->frame_vbo[i]);
glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
glEnableVertexAttribArray(frame_pos_loc);
glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
sizeof(frame_coords[0]), (const void *)0);
glEnableVertexAttribArray(frame_texcoord_loc);
glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
glGenBuffers(1, &s->frame_ibo[i]);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s->frame_ibo[i]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindVertexArray(0);
}
auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
s->zoom = zoom / intrinsic_matrix.v[0];
if (s->wide_camera) {
s->zoom *= 0.5;
}
s->video_rect = Rect{bdr_s, bdr_s, s->fb_w - 2 * bdr_s, s->fb_h - 2 * bdr_s};
float zx = s->zoom * 2 * intrinsic_matrix.v[2] / s->video_rect.w;
float zy = s->zoom * 2 * intrinsic_matrix.v[5] / s->video_rect.h;
const mat4 frame_transform = {{
zx, 0.0, 0.0, 0.0,
0.0, zy, 0.0, -y_offset / s->video_rect.h * 2,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
s->front_frame_mat = matmul(device_transform, get_driver_view_transform());
s->rear_frame_mat = matmul(device_transform, frame_transform);
// Apply transformation such that video pixel coordinates match video
// 1) Put (0, 0) in the middle of the video
nvgTranslate(s->vg, s->video_rect.x + s->video_rect.w / 2, s->video_rect.y + s->video_rect.h / 2 + y_offset);
// 2) Apply same scaling as video
nvgScale(s->vg, s->zoom, s->zoom);
// 3) Put (0, 0) in top left corner of video
nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
nvgCurrentTransform(s->vg, s->car_space_transform);
nvgResetTransform(s->vg);
}
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