tici: fix ui rotation (#2184)
* rotate ui 90 degree * put rotation behind ifdef * Also ifdef that * ui intrinsic_matrix * that doesnt do anything * Keep parent on non qcom
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bacc387ee6
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9bbb166303
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@ -17,11 +17,21 @@ extern "C"{
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#include "sidebar.hpp"
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// TODO: this is also hardcoded in common/transformations/camera.py
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// TODO: choose based on frame input size
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#ifdef QCOM2
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const mat3 intrinsic_matrix = (mat3){{
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2648.0, 0.0, 1928.0/2,
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0.0, 2648.0, 1208.0/2,
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0.0, 0.0, 1.0
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}};
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#else
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const mat3 intrinsic_matrix = (mat3){{
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910., 0., 582.,
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0., 910., 437.,
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0., 0., 1.
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}};
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#endif
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const uint8_t alert_colors[][4] = {
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[STATUS_OFFROAD] = {0x07, 0x23, 0x39, 0xf1},
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@ -19,13 +19,21 @@ volatile sig_atomic_t do_exit = 0;
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MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
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main_layout = new QStackedLayout;
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#ifdef QCOM2
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QLabel * label = new QLabel(this);
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main_layout->addWidget(label);
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GLWindow * glWindow = new GLWindow;
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glWindow->setLabel(label);
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glWindow->show();
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#else
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GLWindow * glWindow = new GLWindow(this);
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main_layout->addWidget(glWindow);
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#endif
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SettingsWindow * settingsWindow = new SettingsWindow(this);
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main_layout->addWidget(settingsWindow);
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main_layout->setMargin(0);
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setLayout(main_layout);
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QObject::connect(glWindow, SIGNAL(openSettings()), this, SLOT(openSettings()));
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@ -52,6 +60,10 @@ GLWindow::GLWindow(QWidget *parent) : QOpenGLWidget(parent) {
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timer = new QTimer(this);
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QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
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#ifdef QCOM2
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setFixedWidth(vwp_w);
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setFixedHeight(vwp_h);
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#endif
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}
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GLWindow::~GLWindow() {
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@ -59,6 +71,10 @@ GLWindow::~GLWindow() {
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doneCurrent();
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}
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void GLWindow::setLabel(QLabel * l){
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label = l;
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}
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void GLWindow::initializeGL() {
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initializeOpenGLFunctions();
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std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
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@ -78,6 +94,13 @@ void GLWindow::initializeGL() {
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void GLWindow::timerUpdate(){
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ui_update(ui_state);
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update();
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if (label != NULL){
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QImage img = grabFramebuffer();
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QTransform transform;
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transform.rotate(90);
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label->setPixmap(QPixmap::fromImage(img).transformed(transform));
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}
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}
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void GLWindow::resizeGL(int w, int h) {
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@ -2,6 +2,7 @@
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#include <QWidget>
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#include <QTimer>
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#include <QLabel>
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#include <QGuiApplication>
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#include <QOpenGLWidget>
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#include <QOpenGLFunctions>
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@ -39,6 +40,7 @@ class GLWindow : public QOpenGLWidget, protected QOpenGLFunctions
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public:
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using QOpenGLWidget::QOpenGLWidget;
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explicit GLWindow(QWidget *parent = 0);
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void setLabel(QLabel *l);
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~GLWindow();
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protected:
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@ -52,6 +54,7 @@ private:
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QTimer * timer;
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UIState * ui_state;
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QtSound sound;
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QLabel * label = NULL;
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public slots:
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void timerUpdate();
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