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IQ.Pilot Release Commit @ c744c08

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IQ.Lvbs CI [bot]
2026-07-26 19:09:55 -05:00
parent 152206f935
commit 6edfe55a1e
192 changed files with 10991 additions and 11109 deletions
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105
selfdrive/ui/onroad/model_renderer.py
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@@ -52,6 +52,22 @@ class LeadVehicle:
fill_alpha: int = 0
@dataclass
class VisionDot:
x: float
y: float
tx: float
ty: float
radius: float
tradius: float
alpha: float = 0.0
talpha: float = 1.0
rgb: tuple[int, int, int] | None = None
_VD_EASE = 0.4
class ModelRenderer(Widget, IQModelRenderer):
def __init__(self):
Widget.__init__(self)
@@ -66,8 +82,8 @@ class ModelRenderer(Widget, IQModelRenderer):
self._road_edge_stds = np.zeros(2, dtype=np.float32)
self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
self._track_dots: list[LeadVehicle] = []
self._vision_dots: list[LeadVehicle] = []
self._sign_dots: list[tuple[float, float, float, rl.Color]] = []
self._vision_dots: list[VisionDot] = []
self._vt_frame = -1
self._frame_transform: np.ndarray | None = None
self._frame_transform_wide = False
self._path_offset_z = HEIGHT_INIT[0]
@@ -164,7 +180,6 @@ class ModelRenderer(Widget, IQModelRenderer):
if self._ambient_dots:
self._update_vision_dots(sm)
self._draw_vision_dots()
self._draw_sign_dots()
if render_lead_indicator and radar_state:
if self._ambient_dots:
@@ -230,23 +245,34 @@ class ModelRenderer(Widget, IQModelRenderer):
self._track_dots.append(LeadVehicle(center=(float(x), float(y)), radius=float(radius), sz=float(sz)))
def _update_vision_dots(self, sm):
self._vision_dots = []
self._sign_dots = []
if (self._frame_transform is None or
not sm.alive['iqVehicleTracks'] or not sm.valid['iqVehicleTracks']):
return
# iqVehicleTracks arrives at a few Hz; the dots are eased toward the latest
# detection every render frame so they glide instead of teleporting.
hidden = (self._frame_transform is None or
not sm.alive['iqVehicleTracks'] or not sm.valid['iqVehicleTracks'])
if not hidden:
vt = sm['iqVehicleTracks']
hidden = bool(vt.wide) != self._frame_transform_wide or vt.frameWidth == 0 or vt.frameHeight == 0
vt = sm['iqVehicleTracks']
if bool(vt.wide) != self._frame_transform_wide:
return
if hidden:
for d in self._vision_dots:
d.talpha = 0.0
elif vt.frameId != self._vt_frame:
self._vt_frame = vt.frameId
self._retarget_vision_dots(vt)
for d in self._vision_dots:
d.x += (d.tx - d.x) * _VD_EASE
d.y += (d.ty - d.y) * _VD_EASE
d.radius += (d.tradius - d.radius) * _VD_EASE
d.alpha += (d.talpha - d.alpha) * _VD_EASE
self._vision_dots = [d for d in self._vision_dots if d.alpha > 0.02 or d.talpha > 0.0]
def _retarget_vision_dots(self, vt):
fw, fh = vt.frameWidth, vt.frameHeight
if fw == 0 or fh == 0:
return
m = self._frame_transform
occupied = [d.center for d in self._lead_vehicles + self._track_dots if d.center is not None]
m = self._frame_transform
targets = []
for t in vt.tracks:
is_vehicle = t.label in VEHICLE_TRACK_LABELS
sign_color = SIGN_TRACK_COLORS.get(t.label)
@@ -259,18 +285,34 @@ class ModelRenderer(Widget, IQModelRenderer):
if not (self._rect.x <= x <= self._rect.x + self._rect.width and
self._rect.y <= y <= self._rect.y + self._rect.height):
continue
box_h = (t.y2 - t.y1) * fh * m[1, 1]
radius = float(np.clip(box_h * 0.35, 14.0, 40.0))
if sign_color is not None:
self._sign_dots.append((float(x), float(y), min(radius, 22.0), sign_color))
continue
targets.append((x, y, min(radius, 22.0), (sign_color.r, sign_color.g, sign_color.b)))
elif not any((x - ox) ** 2 + (y - oy) ** 2 < (radius * 2.2) ** 2 for ox, oy in occupied):
targets.append((x, y, radius, None))
if any((x - ox) ** 2 + (y - oy) ** 2 < (radius * 2.2) ** 2 for ox, oy in occupied):
continue
dots = self._vision_dots
used = [False] * len(dots)
for tx, ty, tr, rgb in targets:
best, best_d2 = -1, 1e18
for i, d in enumerate(dots):
if used[i] or (d.rgb is None) != (rgb is None):
continue
d2 = (d.x - tx) ** 2 + (d.y - ty) ** 2
if d2 < best_d2:
best, best_d2 = i, d2
if best >= 0 and best_d2 <= (max(tr, dots[best].radius) * 3.0) ** 2:
d = dots[best]
used[best] = True
d.tx, d.ty, d.tradius, d.talpha, d.rgb = tx, ty, tr, 1.0, rgb
else:
dots.append(VisionDot(x=tx, y=ty, tx=tx, ty=ty, radius=tr, tradius=tr, alpha=0.0, talpha=1.0, rgb=rgb))
used.append(True)
self._vision_dots.append(LeadVehicle(center=(float(x), float(y)), radius=radius, sz=radius))
for i, d in enumerate(dots):
if not used[i]:
d.talpha = 0.0
def _update_model(self, lead, path_x_array):
"""Update model visualization data based on model message"""
@@ -416,15 +458,16 @@ class ModelRenderer(Widget, IQModelRenderer):
def _draw_vision_dots(self):
src = rl.Rectangle(0, 0, self._lead_orb.width, self._lead_orb.height)
for dot in self._vision_dots:
cx, cy = dot.center
r = dot.radius
dest = rl.Rectangle(cx, cy, r * 2.0, r * 2.0)
rl.draw_texture_pro(self._lead_orb, src, dest, rl.Vector2(r, r), 0.0, rl.Color(255, 255, 255, 90))
def _draw_sign_dots(self):
for x, y, r, color in self._sign_dots:
rl.draw_circle(int(x), int(y), r, color)
rl.draw_circle_lines(int(x), int(y), r, rl.Color(255, 255, 255, 160))
a = dot.alpha
if a <= 0.02:
continue
if dot.rgb is None:
r = dot.radius
dest = rl.Rectangle(dot.x, dot.y, r * 2.0, r * 2.0)
rl.draw_texture_pro(self._lead_orb, src, dest, rl.Vector2(r, r), 0.0, rl.Color(255, 255, 255, int(90 * a)))
else:
rl.draw_circle(int(dot.x), int(dot.y), dot.radius, rl.Color(dot.rgb[0], dot.rgb[1], dot.rgb[2], int(200 * a)))
rl.draw_circle_lines(int(dot.x), int(dot.y), dot.radius, rl.Color(255, 255, 255, int(160 * a)))
def _draw_track_dots(self):
src = rl.Rectangle(0, 0, self._lead_orb.width, self._lead_orb.height)