IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/ui/onroad/driver_camera_dialog.py

@@ -0,0 +1,111 @@
+import numpy as np
+import pyray as rl
+from iqpilot.cereal.visionipc import VisionStreamType
+from iqpilot.selfdrive.ui.onroad.cameraview import CameraView
+from iqpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from iqpilot.selfdrive.ui.ui_state import ui_state, device
+from iqpilot.system.ui.lib.application import gui_app, FontWeight
+from iqpilot.system.ui.lib.multilang import tr
+from iqpilot.system.ui.widgets.label import gui_label
+
+
+class DriverCameraDialog(CameraView):
+  def __init__(self):
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+    self.driver_state_renderer = DriverStateRenderer()
+    # TODO: this can grow unbounded, should be given some thought
+    device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    ui_state.params.put_bool("IsDriverViewEnabled", True)
+
+  def hide_event(self):
+    super().hide_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
+    self.close()
+
+  def _handle_mouse_release(self, _):
+    super()._handle_mouse_release(_)
+    gui_app.set_modal_overlay(None)
+
+  def __del__(self):
+    self.close()
+
+  def _render(self, rect):
+    super()._render(rect)
+
+    if not self.frame:
+      gui_label(
+        rect,
+        tr("camera starting"),
+        font_size=100,
+        font_weight=FontWeight.BOLD,
+        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      )
+      return -1
+
+    self._draw_face_detection(rect)
+    self.driver_state_renderer.render(rect)
+
+    return -1
+
+  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
+    driver_state = ui_state.sm["driverStateV2"]
+    is_rhd = driver_state.wheelOnRightProb > 0.5
+    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
+    face_detect = driver_data.faceProb > 0.7
+    if not face_detect:
+      return
+
+    # Get face position and orientation
+    face_x, face_y = driver_data.facePosition
+    face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    alpha = 0.7
+    if face_std > 0.15:
+      alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0)
+
+    # use approx instead of distort_points
+    # TODO: replace with distort_points
+    fbox_x = int(1080.0 - 1714.0 * face_x)
+    fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y)
+    box_size = 220
+
+    line_color = rl.Color(255, 255, 255, int(alpha * 255))
+    rl.draw_rectangle_rounded_lines_ex(
+      rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size),
+      35.0 / box_size / 2,
+      10,
+      10,
+      line_color,
+    )
+
+  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 = DriverCameraDialog()
+  try:
+    for _ in gui_app.render():
+      ui_state.update()
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    driver_camera_view.close()