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ui: add auto camera switching based on speed in experimental mode (#35437)

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* add auto camera switching based on speed in experimental mode

* fix conflit
This commit is contained in:
Dean Lee
2025-06-07 12:10:51 +08:00
committed by GitHub
parent c145de96f9
commit c3aa7cffed
1 changed files with 22 additions and 1 deletions
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23
selfdrive/ui/onroad/augmented_road_view.py
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@@ -25,6 +25,9 @@ BORDER_COLORS = {
UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1), # Green for engaged state
}
WIDE_CAM_MAX_SPEED = 10.0 # m/s (22 mph)
ROAD_CAM_MIN_SPEED = 15.0 # m/s (34 mph)
class AugmentedRoadView(CameraView):
def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
@@ -51,6 +54,8 @@ class AugmentedRoadView(CameraView):
if not ui_state.started:
return
self._switch_stream_if_needed(ui_state.sm)
# Update calibration before rendering
self._update_calibration()
@@ -93,6 +98,22 @@ class AugmentedRoadView(CameraView):
border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color)
def _switch_stream_if_needed(self, sm):
if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
v_ego = sm['carState'].vEgo
if v_ego < WIDE_CAM_MAX_SPEED:
target = WIDE_CAM
elif v_ego > ROAD_CAM_MIN_SPEED:
target = ROAD_CAM
else:
# Hysteresis zone - keep current stream
target = self.stream_type
else:
target = ROAD_CAM
if self.stream_type != target:
self.switch_stream(target)
def _update_calibration(self):
# Update device camera if not already set
sm = ui_state.sm
@@ -128,7 +149,7 @@ class AugmentedRoadView(CameraView):
# Get camera configuration
device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
is_wide_camera = self.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
is_wide_camera = self.stream_type == WIDE_CAM
intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
zoom = 2.0 if is_wide_camera else 1.1