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enhance dcam a bit for onboarding (#36655)

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This commit is contained in:
Adeeb Shihadeh
2025-11-19 15:43:49 -08:00
committed by GitHub
parent f0d8ebd851
commit a29fdbd024
1 changed files with 25 additions and 3 deletions
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28
selfdrive/ui/mici/onroad/cameraview.py
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@@ -47,6 +47,7 @@ if TICI:
uniform samplerExternalOES texture0;
out vec4 fragColor;
uniform int engaged;
uniform int enhance_driver;
void main() {
vec4 color = texture(texture0, fragTexCoord);
@@ -57,8 +58,16 @@ if TICI:
color.rgb = pow(color.rgb, vec3(1.0/1.28));
fragColor = vec4(color.rgb, color.a);
} else {
fragColor = vec4(color.rgb * 0.85, color.a); // 85% opacity
color.rgb *= 0.85; // 85% opacity
}
if (enhance_driver == 1) {
float brightness = 1.1;
color.rgb = color.rgb + 0.15;
color.rgb = clamp((color.rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
color.rgb = color.rgb * color.rgb * (3.0 - 2.0 * color.rgb);
color.rgb = pow(color.rgb, vec3(0.8));
}
fragColor = vec4(color.rgb, color.a);
}
"""
else:
@@ -68,6 +77,7 @@ else:
uniform sampler2D texture1;
out vec4 fragColor;
uniform int engaged;
uniform int enhance_driver;
void main() {
float y = texture(texture0, fragTexCoord).r;
@@ -77,10 +87,19 @@ else:
float gray = dot(rgb, vec3(0.299, 0.587, 0.114));
rgb = mix(vec3(gray), rgb, 0.2); // 20% saturation
rgb = clamp((rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0); // +20% contrast
fragColor = vec4(rgb, 1.0);
} else {
fragColor = vec4(rgb * 0.85, 1.0); // 85% opacity
rgb *= 0.85; // 85% opacity
}
// TODO: the images out of camerad need some more correction and
// the ui should apply a gamma curve for the device display
if (enhance_driver == 1) {
float brightness = 1.1;
rgb = rgb + 0.15;
rgb = clamp((rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
rgb = rgb * rgb * (3.0 - 2.0 * rgb);
rgb = pow(rgb, vec3(0.8));
}
fragColor = vec4(rgb, 1.0);
}
"""
@@ -106,6 +125,8 @@ class CameraView(Widget):
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
self._engaged_val = rl.ffi.new("int[1]", [1])
self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
self.frame: VisionBuf | None = None
self.texture_y: rl.Texture | None = None
@@ -300,6 +321,7 @@ class CameraView(Widget):
def _update_texture_color_filtering(self):
self._engaged_val[0] = 1 if ui_state.status != UIStatus.DISENGAGED else 0
rl.set_shader_value(self.shader, self._engaged_loc, self._engaged_val, rl.ShaderUniformDataType.SHADER_UNIFORM_INT)
rl.set_shader_value(self.shader, self._enhance_driver_loc, self._enhance_driver_val, rl.ShaderUniformDataType.SHADER_UNIFORM_INT)
def _ensure_connection(self) -> bool:
if not self.client.is_connected():