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ui: refactor driver monitor updating and rendering into `DriverMonito…
…rRenderer` class (#33375) * Refactor Driver Monitor Updating and Rendering add comments * rebase master * rename dmon to driver_monitoring old-commit-hash: af80a13
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,107 @@ | ||
| #include "selfdrive/ui/qt/onroad/driver_monitoring.h" | ||
| #include <algorithm> | ||
| #include <cmath> | ||
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| #include "selfdrive/ui/qt/onroad/buttons.h" | ||
| #include "selfdrive/ui/qt/util.h" | ||
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| // Default 3D coordinates for face keypoints | ||
| static constexpr vec3 DEFAULT_FACE_KPTS_3D[] = { | ||
| {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, | ||
| {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00}, | ||
| {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00}, | ||
| {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00}, | ||
| {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00}, | ||
| {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00}, | ||
| {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00}, | ||
| }; | ||
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| // Colors used for drawing based on monitoring state | ||
| static const QColor DMON_ENGAGED_COLOR = QColor::fromRgbF(0.1, 0.945, 0.26); | ||
| static const QColor DMON_DISENGAGED_COLOR = QColor::fromRgbF(0.545, 0.545, 0.545); | ||
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| DriverMonitorRenderer::DriverMonitorRenderer() : face_kpts_draw(std::size(DEFAULT_FACE_KPTS_3D)) { | ||
| dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5}); | ||
| } | ||
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| void DriverMonitorRenderer::updateState(const UIState &s) { | ||
| auto &sm = *(s.sm); | ||
| is_visible = sm["selfdriveState"].getSelfdriveState().getAlertSize() == cereal::SelfdriveState::AlertSize::NONE && | ||
| sm.rcv_frame("driverStateV2") > s.scene.started_frame; | ||
| if (!is_visible) return; | ||
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| auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); | ||
| is_active = dm_state.getIsActiveMode(); | ||
| is_rhd = dm_state.getIsRHD(); | ||
| dm_fade_state = std::clamp(dm_fade_state + 0.2f * (0.5f - is_active), 0.0f, 1.0f); | ||
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| const auto &driverstate = sm["driverStateV2"].getDriverStateV2(); | ||
| const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation(); | ||
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| for (int i = 0; i < 3; ++i) { | ||
| float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i]; | ||
| driver_pose_diff[i] = std::abs(driver_pose_vals[i] - v_this); | ||
| driver_pose_vals[i] = 0.8f * v_this + (1 - 0.8) * driver_pose_vals[i]; | ||
| driver_pose_sins[i] = std::sin(driver_pose_vals[i] * (1.0f - dm_fade_state)); | ||
| driver_pose_coss[i] = std::cos(driver_pose_vals[i] * (1.0f - dm_fade_state)); | ||
| } | ||
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| auto [sin_y, sin_x, sin_z] = driver_pose_sins; | ||
| auto [cos_y, cos_x, cos_z] = driver_pose_coss; | ||
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| // Rotation matrix for transforming face keypoints based on driver's head orientation | ||
| const mat3 r_xyz = {{ | ||
| cos_x * cos_z, cos_x * sin_z, -sin_x, | ||
| -sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x, | ||
| cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x, | ||
| }}; | ||
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| // Transform vertices | ||
| for (int i = 0; i < face_kpts_draw.size(); ++i) { | ||
| vec3 kpt = matvecmul3(r_xyz, DEFAULT_FACE_KPTS_3D[i]); | ||
| face_kpts_draw[i] = {{kpt.v[0], kpt.v[1], kpt.v[2] * (1.0f - dm_fade_state) + 8 * dm_fade_state}}; | ||
| } | ||
| } | ||
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| void DriverMonitorRenderer::draw(QPainter &painter, const QRect &surface_rect) { | ||
| if (!is_visible) return; | ||
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| painter.save(); | ||
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| int offset = UI_BORDER_SIZE + btn_size / 2; | ||
| float x = is_rhd ? surface_rect.width() - offset : offset; | ||
| float y = surface_rect.height() - offset; | ||
| float opacity = is_active ? 0.65f : 0.2f; | ||
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| drawIcon(painter, QPoint(x, y), dm_img, QColor(0, 0, 0, 70), opacity); | ||
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| QPointF keypoints[std::size(DEFAULT_FACE_KPTS_3D)]; | ||
| for (int i = 0; i < std::size(keypoints); ++i) { | ||
| const auto &v = face_kpts_draw[i].v; | ||
| float kp = (v[2] - 8) / 120.0f + 1.0f; | ||
| keypoints[i] = QPointF(v[0] * kp + x, v[1] * kp + y); | ||
| } | ||
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| painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap)); | ||
| painter.drawPolyline(keypoints, std::size(keypoints)); | ||
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| // tracking arcs | ||
| const int arc_l = 133; | ||
| const float arc_t_default = 6.7f; | ||
| const float arc_t_extend = 12.0f; | ||
| QColor arc_color = uiState()->engaged() ? DMON_ENGAGED_COLOR : DMON_DISENGAGED_COLOR; | ||
| arc_color.setAlphaF(0.4 * (1.0f - dm_fade_state)); | ||
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| float delta_x = -driver_pose_sins[1] * arc_l / 2.0f; | ||
| float delta_y = -driver_pose_sins[0] * arc_l / 2.0f; | ||
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| // Draw horizontal tracking arc | ||
| painter.setPen(QPen(arc_color, arc_t_default + arc_t_extend * std::min(1.0, driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap)); | ||
| painter.drawArc(QRectF(std::min(x + delta_x, x), y - arc_l / 2, std::abs(delta_x), arc_l), (driver_pose_sins[1] > 0 ? 90 : -90) * 16, 180 * 16); | ||
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| // Draw vertical tracking arc | ||
| painter.setPen(QPen(arc_color, arc_t_default + arc_t_extend * std::min(1.0, driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap)); | ||
| painter.drawArc(QRectF(x - arc_l / 2, std::min(y + delta_y, y), arc_l, std::abs(delta_y)), (driver_pose_sins[0] > 0 ? 0 : 180) * 16, 180 * 16); | ||
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| painter.restore(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| #pragma once | ||
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| #include <vector> | ||
| #include <QPainter> | ||
| #include "selfdrive/ui/ui.h" | ||
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| class DriverMonitorRenderer { | ||
| public: | ||
| DriverMonitorRenderer(); | ||
| void updateState(const UIState &s); | ||
| void draw(QPainter &painter, const QRect &surface_rect); | ||
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| private: | ||
| float driver_pose_vals[3] = {}; | ||
| float driver_pose_diff[3] = {}; | ||
| float driver_pose_sins[3] = {}; | ||
| float driver_pose_coss[3] = {}; | ||
| bool is_visible = false; | ||
| bool is_active = false; | ||
| bool is_rhd = false; | ||
| float dm_fade_state = 1.0; | ||
| QPixmap dm_img; | ||
| std::vector<vec3> face_kpts_draw; | ||
| }; |
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