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UI: remove zoom from struct UIState (#21520)

pull/21521/head
Dean Lee 2021-07-08 16:42:34 +08:00 committed by GitHub
parent 648639787c
commit 13b2ce9391
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 10 additions and 11 deletions
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10
selfdrive/ui/paint.cc
View File

@ -440,15 +440,15 @@ void ui_resize(UIState *s, int width, int height) {
auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
s->zoom = zoom / intrinsic_matrix.v[0];
float zoom = ZOOM / intrinsic_matrix.v[0];
if (s->wide_camera) {
s->zoom *= 0.5;
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;
float zx = zoom * 2 * intrinsic_matrix.v[2] / s->video_rect.w;
float zy = zoom * 2 * intrinsic_matrix.v[5] / s->video_rect.h;
const mat4 frame_transform = {{
zx, 0.0, 0.0, 0.0,
@ -464,7 +464,7 @@ void ui_resize(UIState *s, int width, int height) {
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);
nvgScale(s->vg, zoom, zoom);
// 3) Put (0, 0) in top left corner of video
nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);

8
selfdrive/ui/qt/widgets/cameraview.cc
View File

@ -129,12 +129,12 @@ void CameraViewWidget::initializeGL() {
frame_mat = matmul(device_transform, get_driver_view_transform());
} else {
auto intrinsic_matrix = stream_type == VISION_STREAM_RGB_WIDE ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
float zoom_ = zoom / intrinsic_matrix.v[0];
float zoom = ZOOM / intrinsic_matrix.v[0];
if (stream_type == VISION_STREAM_RGB_WIDE) {
zoom_ *= 0.5;
zoom *= 0.5;
}
float zx = zoom_ * 2 * intrinsic_matrix.v[2] / width();
float zy = zoom_ * 2 * intrinsic_matrix.v[5] / height();
float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
const mat4 frame_transform = {{
zx, 0.0, 0.0, 0.0,

3
selfdrive/ui/ui.h
View File

@ -34,7 +34,7 @@
// 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;
const float ZOOM = Hardware::TICI() ? 2912.8 : 2138.5;
typedef struct Rect {
int x, y, w, h;
@ -136,7 +136,6 @@ typedef struct UIState {
Rect video_rect, viz_rect;
float car_space_transform[6];
bool wide_camera;
float zoom;
} UIState;