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paint.cc car_space_to_full_frame less paramaters (#19676)

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This commit is contained in:
Dean Lee
2021-01-06 23:34:29 +08:00
committed by GitHub
parent 37cb4bec63
commit 93cd4eae55
3 changed files with 10 additions and 11 deletions
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15
selfdrive/ui/paint.cc
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@@ -41,7 +41,7 @@ const mat3 intrinsic_matrix = (mat3){{
// Projects a point in car to space to the corresponding point in full frame
// image space.
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, float *out_x, float *out_y, float margin) {
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out, float margin) {
const vec4 car_space_projective = (vec4){{in_x, in_y, in_z, 1.}};
// We'll call the car space point p.
// First project into normalized image coordinates with the extrinsics matrix.
@@ -52,10 +52,10 @@ bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_
const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
// Project.
*out_x = KEp.v[0] / KEp.v[2];
*out_y = KEp.v[1] / KEp.v[2];
out->x = KEp.v[0] / KEp.v[2];
out->y = KEp.v[1] / KEp.v[2];
return *out_x >= -margin && *out_x <= s->fb_w + margin && *out_y >= -margin && *out_y <= s->fb_h + margin;
return out->x >= -margin && out->x <= s->fb_w + margin && out->y >= -margin && out->y <= s->fb_h + margin;
}
@@ -68,11 +68,10 @@ static void ui_draw_text(NVGcontext *vg, float x, float y, const char* string, f
static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
NVGcolor fillColor, NVGcolor glowColor) {
float x, y;
if (!car_space_to_full_frame(s, x_in, y_in, 0.0, &x, &y)) {
return;
}
vertex_data out;
if (!car_space_to_full_frame(s, x_in, y_in, 0.0, &out)) return;
auto [x, y] = out;
sz = std::clamp((sz * 30) / (x_in / 3 + 30), 15.0f, 30.0f);
// glow

2
selfdrive/ui/paint.hpp
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@@ -1,7 +1,7 @@
#pragma once
#include "ui.hpp"
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, float *out_x, float *out_y, float margin=0.0);
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out, float margin=0.0);
void ui_draw(UIState *s);
void ui_draw_image(NVGcontext *vg, const Rect &r, int image, float alpha);
void ui_draw_rect(NVGcontext *vg, float x, float y, float w, float h, NVGcolor color, float r = 0, int width = 0);

4
selfdrive/ui/ui.cc
View File

@@ -113,11 +113,11 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
vertex_data *v = &pvd->v[0];
const float margin = 500.0f;
for (int i = 0; ((i < TRAJECTORY_SIZE) and (line_x[i] < fmax(MIN_DRAW_DISTANCE, max_distance))); i++) {
v += car_space_to_full_frame(s, line_x[i], -line_y[i] - y_off, -line_z[i] + z_off, &v->x, &v->y, margin);
v += car_space_to_full_frame(s, line_x[i], -line_y[i] - y_off, -line_z[i] + z_off, v, margin);
max_idx = i;
}
for (int i = max_idx; i >= 0; i--) {
v += car_space_to_full_frame(s, line_x[i], -line_y[i] + y_off, -line_z[i] + z_off, &v->x, &v->y, margin);
v += car_space_to_full_frame(s, line_x[i], -line_y[i] + y_off, -line_z[i] + z_off, v, margin);
}
pvd->cnt = v - pvd->v;
assert(pvd->cnt < std::size(pvd->v));