mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-23 21:03:53 +08:00
3d3e9599d8
* add specialized camera views with custom transformations for driver and road * improve * return np array * cached matrix
47 lines
1.3 KiB
Python
47 lines
1.3 KiB
Python
import numpy as np
|
|
import pyray as rl
|
|
from openpilot.system.ui.widgets.cameraview import CameraView
|
|
from msgq.visionipc import VisionStreamType
|
|
from openpilot.system.ui.lib.application import gui_app
|
|
|
|
|
|
class DriverCameraView(CameraView):
|
|
def __init__(self, stream_type: VisionStreamType):
|
|
super().__init__("camerad", stream_type)
|
|
|
|
def render(self, rect):
|
|
super().render(rect)
|
|
|
|
# TODO: Add additional rendering logic
|
|
|
|
def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
|
|
driver_view_ratio = 2.0
|
|
|
|
# Get stream dimensions
|
|
if self.frame:
|
|
stream_width = self.frame.width
|
|
stream_height = self.frame.height
|
|
else:
|
|
# Default values if frame not available
|
|
stream_width = 1928
|
|
stream_height = 1208
|
|
|
|
yscale = stream_height * driver_view_ratio / stream_width
|
|
xscale = yscale * rect.height / rect.width * stream_width / stream_height
|
|
|
|
return np.array([
|
|
[xscale, 0.0, 0.0],
|
|
[0.0, yscale, 0.0],
|
|
[0.0, 0.0, 1.0]
|
|
])
|
|
|
|
|
|
if __name__ == "__main__":
|
|
gui_app.init_window("Driver Camera View")
|
|
driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
|
|
try:
|
|
for _ in gui_app.render():
|
|
driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
|
|
finally:
|
|
driver_camera_view.close()
|