503 lines
19 KiB
Python
503 lines
19 KiB
Python
import colorsys
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import numpy as np
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import pyray as rl
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from iqpilot.cereal import messaging, car
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from dataclasses import dataclass, field
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from iqpilot.common.params import Params
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from iqpilot.common.filter_simple import FirstOrderFilter
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from iqpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
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from iqpilot.ui.onroad.hud_overlays import ChevronMetrics
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from iqpilot.ui.onroad.lead_confidence import driving_confidence
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from iqpilot.selfdrive.locationd.calibration_helpers import get_render_path_height
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from iqpilot.selfdrive.ui.ui_state import ui_state, UIStatus
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from iqpilot.selfdrive.ui.mici.onroad import blend_colors
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from iqpilot.system.ui.lib.application import gui_app
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from iqpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
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from iqpilot.system.ui.widgets import Widget
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CLIP_MARGIN = 500
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MIN_DRAW_DISTANCE = 10.0
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MAX_DRAW_DISTANCE = 100.0
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THROTTLE_COLORS = [
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rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4)
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rl.Color(114, 255, 92, 89), # HSLF(112/360, 1.0, 0.68, 0.35)
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rl.Color(114, 255, 92, 0), # HSLF(112/360, 1.0, 0.68, 0.0)
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]
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NO_THROTTLE_COLORS = [
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rl.Color(242, 242, 242, 102), # HSLF(148/360, 0.0, 0.95, 0.4)
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rl.Color(242, 242, 242, 89), # HSLF(112/360, 0.0, 0.95, 0.35)
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rl.Color(242, 242, 242, 0), # HSLF(112/360, 0.0, 0.95, 0.0)
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]
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LANE_LINE_COLORS = {
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UIStatus.DISENGAGED: rl.Color(200, 200, 200, 255),
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UIStatus.OVERRIDE: rl.Color(255, 255, 255, 255),
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UIStatus.ENGAGED: rl.Color(0, 255, 64, 255),
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}
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@dataclass
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class ModelPoints:
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raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
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projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
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@dataclass
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class LeadVehicle:
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center: tuple[float, float] | None = None
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radius: float = 0.0
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sz: float = 0.0
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fill_alpha: int = 0
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class ModelRenderer(Widget):
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def __init__(self):
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super().__init__()
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self.chevron_metrics = ChevronMetrics()
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self._lead_orb = gui_app.texture("icons/lead_orb.png", 256, 256)
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self._longitudinal_control = False
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self._experimental_mode = False
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self._blend_filter = FirstOrderFilter(1.0, 0.25, 1 / gui_app.target_fps)
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self._prev_allow_throttle = True
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self._lane_line_probs = np.zeros(4, dtype=np.float32)
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self._road_edge_stds = np.zeros(2, dtype=np.float32)
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self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
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self._path_offset_z = HEIGHT_INIT[0]
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# Initialize ModelPoints objects
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self._path = ModelPoints()
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self._lane_lines = [ModelPoints() for _ in range(4)]
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self._road_edges = [ModelPoints() for _ in range(2)]
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self._acceleration_x = np.empty((0,), dtype=np.float32)
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self._acceleration_x_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
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self._acceleration_x_filter2 = FirstOrderFilter(0.0, 1, 1 / gui_app.target_fps)
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self._torque_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
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self._ll_color_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
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# Transform matrix (3x3 for car space to screen space)
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self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
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self._transform_dirty = True
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self._clip_region = None
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self._counter = -1
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self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
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self._exp_gradient = Gradient(
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start=(0.0, 1.0), # Bottom of path
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end=(0.0, 0.0), # Top of path
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colors=[],
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stops=[],
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)
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# Get longitudinal control setting from car parameters
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if car_params := Params().get("CarParams"):
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cp = messaging.log_from_bytes(car_params, car.CarParams)
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self._longitudinal_control = cp.openpilotLongitudinalControl
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def set_transform(self, transform: np.ndarray):
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self._car_space_transform = transform.astype(np.float32)
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self._transform_dirty = True
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def _render(self, rect: rl.Rectangle):
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sm = ui_state.sm
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driving_confidence.update()
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if self._counter % 180 == 0: # This runs at 60fps, so we query every 3 seconds
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self._camera_offset = ui_state.params.get("CameraOffset", return_default=True) if ui_state.active_bundle else 0.0
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self._counter += 1
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self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
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# Check if data is up-to-date
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if (sm.recv_frame["extrinsicsCalibration"] < ui_state.started_frame or
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sm.recv_frame["modelV2"] < ui_state.started_frame):
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return
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# Set up clipping region
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self._clip_region = rl.Rectangle(
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rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
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)
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# Update state
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self._experimental_mode = sm['selfdriveState'].experimentalMode
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live_calib = sm['extrinsicsCalibration']
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self._path_offset_z = get_render_path_height(live_calib)
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if sm.updated['carParams']:
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self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
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model = sm['modelV2']
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radar_state = sm['radarState'] if sm.valid['radarState'] else None
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lead_one = radar_state.leadOne if radar_state else None
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render_lead_indicator = self._longitudinal_control and radar_state is not None
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# Update model data when needed
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model_updated = sm.updated['modelV2']
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if model_updated or sm.updated['radarState'] or self._transform_dirty:
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if model_updated:
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self._update_raw_points(model)
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path_x_array = self._path.raw_points[:, 0]
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if path_x_array.size == 0:
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return
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self._update_model(lead_one, path_x_array)
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if render_lead_indicator:
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self._update_leads(radar_state, path_x_array)
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self._transform_dirty = False
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# Draw elements (hide when disengaged)
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if ui_state.status != UIStatus.DISENGAGED:
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self._draw_lane_lines()
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self._draw_path(sm)
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if render_lead_indicator and radar_state:
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self._draw_lead_indicator()
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self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
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def _update_raw_points(self, model):
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"""Update raw 3D points from model data"""
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self._path.raw_points = np.array([model.position.x, np.array(model.position.y) + self._camera_offset, model.position.z], dtype=np.float32).T
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for i, lane_line in enumerate(model.laneLines):
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self._lane_lines[i].raw_points = np.array([lane_line.x, np.array(lane_line.y) + self._camera_offset, lane_line.z], dtype=np.float32).T
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for i, road_edge in enumerate(model.roadEdges):
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self._road_edges[i].raw_points = np.array([road_edge.x, np.array(road_edge.y) + self._camera_offset, road_edge.z], dtype=np.float32).T
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self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
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self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
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self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
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def _update_leads(self, radar_state, path_x_array):
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"""Update positions of lead vehicles"""
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self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
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leads = [radar_state.leadOne, radar_state.leadTwo]
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for i, lead_data in enumerate(leads):
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if lead_data and lead_data.status:
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d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
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idx = self._get_path_length_idx(path_x_array, d_rel)
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# Get z-coordinate from path at the lead vehicle position
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z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
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point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
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if point:
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self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
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def _update_model(self, lead, path_x_array):
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"""Update model visualization data based on model message"""
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max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
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max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], max_distance)
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# Update lane lines using raw points
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line_width_factor = 0.12
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for i, lane_line in enumerate(self._lane_lines):
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if i in (1, 2):
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line_width_factor = 0.16
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lane_line.projected_points = self._map_line_to_polygon(
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lane_line.raw_points, line_width_factor * self._lane_line_probs[i], 0.0, max_idx
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)
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# Update road edges using raw points
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for road_edge in self._road_edges:
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road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, line_width_factor, 0.0, max_idx)
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# Update path using raw points
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if lead and lead.status:
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lead_d = lead.dRel * 2.0
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max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
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soon_acceleration = self._acceleration_x[len(self._acceleration_x) // 4] if len(self._acceleration_x) > 0 else 0
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self._acceleration_x_filter.update(soon_acceleration)
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self._acceleration_x_filter2.update(soon_acceleration)
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# make path width wider/thinner when initially braking/accelerating
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if self._experimental_mode and False:
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high_pass_acceleration = self._acceleration_x_filter.x - self._acceleration_x_filter2.x
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y_off = np.interp(high_pass_acceleration, [-1, 0, 1], [0.9 * 2, 0.9, 0.9 / 2])
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else:
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y_off = 0.9
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max_idx = self._get_path_length_idx(path_x_array, max_distance)
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self._path.projected_points = self._map_line_to_polygon(
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self._path.raw_points, y_off, self._path_offset_z, max_idx, allow_invert=False
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)
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self._update_experimental_gradient()
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def _update_experimental_gradient(self):
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"""Pre-calculate experimental mode gradient colors"""
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if not self._experimental_mode:
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return
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# reconstruct absolute (screen) points so the rect-space cull below stays correct
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path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
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max_len = min(len(path_pts) // 2, len(self._acceleration_x))
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segment_colors = []
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gradient_stops = []
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i = 0
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while i < max_len:
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# Some points (screen space) are out of frame (rect space)
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track_y = path_pts[i][1]
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if track_y < self._rect.y or track_y > (self._rect.y + self._rect.height):
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i += 1
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continue
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# Calculate color based on acceleration (0 is bottom, 1 is top)
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lin_grad_point = 1 - (track_y - self._rect.y) / self._rect.height
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# speed up: 120, slow down: 0
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path_hue = np.clip(60 + self._acceleration_x[i] * 35, 0, 120)
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saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
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lightness = np.interp(saturation, [0.0, 1.0], [0.95, 0.62])
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alpha = np.interp(lin_grad_point, [0.75 / 2.0, 0.75], [0.4, 0.0])
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# Use HSL to RGB conversion
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color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
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gradient_stops.append(lin_grad_point)
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segment_colors.append(color)
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# Skip a point, unless next is last
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i += 1 + (1 if (i + 2) < max_len else 0)
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# Store the gradient in the path object
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self._exp_gradient.colors = segment_colors
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self._exp_gradient.stops = gradient_stops
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def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
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speed_buff, lead_buff = 10.0, 40.0
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# Calculate fill alpha
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fill_alpha = 0
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if d_rel < lead_buff:
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fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
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if v_rel < 0:
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fill_alpha += 255 * (-1 * (v_rel / speed_buff))
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fill_alpha = min(fill_alpha, 255)
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# Calculate size and position. Distance-scaled orb radius (closer lead -> bigger orb).
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sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 1
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radius = sz * 1.1
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# point is in absolute screen coords; clamp against the rect's absolute bounds so the orb stays
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# fully on-screen (rect-relative bounds mis-placed it when the camera pane is offset, e.g. split nav)
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x = np.clip(point[0], rect.x + radius, rect.x + rect.width - radius)
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y = np.clip(point[1], rect.y + radius, rect.y + rect.height - radius)
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return LeadVehicle(center=(float(x), float(y)), radius=float(radius), sz=float(sz), fill_alpha=int(fill_alpha))
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def _get_ll_color(self, prob: float, adjacent: bool, left: bool):
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alpha = np.clip(prob, 0.0, 0.7)
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if adjacent:
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_base_color = LANE_LINE_COLORS.get(ui_state.status, LANE_LINE_COLORS[UIStatus.DISENGAGED])
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color = rl.Color(_base_color.r, _base_color.g, _base_color.b, int(alpha * 255))
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# turn adjacent lls orange if torque is high
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torque = self._torque_filter.x
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high_torque = abs(torque) > 0.6
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if high_torque and (left == (torque > 0)):
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color = blend_colors(
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color,
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rl.Color(255, 115, 0, int(alpha * 255)), # orange
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np.interp(abs(torque), [0.6, 0.8], [0.0, 1.0])
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)
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else:
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color = rl.Color(255, 255, 255, int(alpha * 255))
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if ui_state.status == UIStatus.DISENGAGED:
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color = rl.Color(0, 0, 0, int(alpha * 255))
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return color
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def _draw_lane_lines(self):
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"""Draw lane lines and road edges"""
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"""Two closest lines should be green (lane line or road edges)"""
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# projected_points are origin-relative (rect.x/y kept out of the transform so it stays cached);
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# translate to the view's screen position here.
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offset = np.array([self._rect.x, self._rect.y], dtype=np.float32)
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for i, lane_line in enumerate(self._lane_lines):
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if lane_line.projected_points.size == 0:
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continue
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color = self._get_ll_color(float(self._lane_line_probs[i]), i in (1, 2), i in (0, 1))
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draw_polygon(self._rect, lane_line.projected_points + offset, color)
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for i, road_edge in enumerate(self._road_edges):
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if road_edge.projected_points.size == 0:
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continue
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# if closest lane lines are not confident, make road edges green
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color = self._get_ll_color(float(1.0 - self._road_edge_stds[i]), float(self._lane_line_probs[i + 1]) < 0.25, i == 0)
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draw_polygon(self._rect, road_edge.projected_points + offset, color)
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def _draw_path(self, sm):
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"""Draw path with dynamic coloring based on mode and throttle state."""
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if not self._path.projected_points.size:
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return
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# projected_points are origin-relative; translate to the view's screen position
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path_pts = self._path.projected_points + np.array([self._rect.x, self._rect.y], dtype=np.float32)
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allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
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self._blend_filter.update(int(allow_throttle))
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if self._experimental_mode:
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# Draw with acceleration coloring
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if ui_state.status == UIStatus.DISENGAGED:
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draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
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elif len(self._exp_gradient.colors) > 1:
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draw_polygon(self._rect, path_pts, gradient=self._exp_gradient)
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else:
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draw_polygon(self._rect, path_pts, rl.Color(255, 255, 255, 30))
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else:
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# Blend throttle/no throttle colors based on transition
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blend_factor = round(self._blend_filter.x * 100) / 100
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blended_colors = self._blend_colors(NO_THROTTLE_COLORS, THROTTLE_COLORS, blend_factor)
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gradient = Gradient(
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start=(0.0, 1.0), # Bottom of path
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end=(0.0, 0.0), # Top of path
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colors=blended_colors,
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stops=[0.0, 0.5, 1.0],
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)
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if ui_state.status == UIStatus.DISENGAGED:
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draw_polygon(self._rect, path_pts, rl.Color(0, 0, 0, 90))
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else:
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draw_polygon(self._rect, path_pts, gradient=gradient)
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def _draw_lead_indicator(self):
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tint, _ = driving_confidence.colors()
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src = rl.Rectangle(0, 0, self._lead_orb.width, self._lead_orb.height)
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for lead in self._lead_vehicles:
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if lead.center is None:
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continue
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cx, cy = lead.center
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r = lead.radius
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alpha = int(np.clip(140 + 115 * (lead.fill_alpha / 255.0), 0, 255))
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dest = rl.Rectangle(cx, cy, r * 2.0, r * 2.0)
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rl.draw_texture_pro(self._lead_orb, src, dest, rl.Vector2(r, r), 0.0, rl.Color(tint.r, tint.g, tint.b, alpha))
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@staticmethod
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def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
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"""Get the index corresponding to the given path height"""
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if len(pos_x_array) == 0:
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return 0
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indices = np.where(pos_x_array <= path_height)[0]
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return indices[-1] if indices.size > 0 else 0
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def _map_to_screen(self, in_x, in_y, in_z):
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"""Project a point in car space to screen space"""
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input_pt = np.array([in_x, in_y, in_z])
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pt = self._car_space_transform @ input_pt
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if abs(pt[2]) < 1e-6:
|
|
return None
|
|
|
|
x, y = pt[0] / pt[2], pt[1] / pt[2]
|
|
|
|
clip = self._clip_region
|
|
if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
|
|
return None
|
|
|
|
return (x, y)
|
|
|
|
def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
|
|
"""Convert 3D line to 2D polygon for rendering."""
|
|
if line.shape[0] == 0:
|
|
return np.empty((0, 2), dtype=np.float32)
|
|
|
|
# Slice points and filter non-negative x-coordinates
|
|
points = line[:max_idx + 1]
|
|
points = points[points[:, 0] >= 0]
|
|
if points.shape[0] == 0:
|
|
return np.empty((0, 2), dtype=np.float32)
|
|
|
|
N = points.shape[0]
|
|
# Generate left and right 3D points in one array using broadcasting
|
|
offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32)
|
|
points_3d = points[None, :, :] + offsets[:, None, :] # Shape: 2xNx3
|
|
points_3d = points_3d.reshape(2 * N, 3) # Shape: (2*N)x3
|
|
|
|
# Transform all points to projected space in one operation
|
|
proj = self._car_space_transform @ points_3d.T # Shape: 3x(2*N)
|
|
proj = proj.reshape(3, 2, N)
|
|
left_proj = proj[:, 0, :]
|
|
right_proj = proj[:, 1, :]
|
|
|
|
# Filter points where z is sufficiently large
|
|
valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6)
|
|
if not np.any(valid_proj):
|
|
return np.empty((0, 2), dtype=np.float32)
|
|
|
|
# Compute screen coordinates
|
|
left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :]
|
|
right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :]
|
|
|
|
# Define clip region bounds
|
|
clip = self._clip_region
|
|
x_min, x_max = clip.x, clip.x + clip.width
|
|
y_min, y_max = clip.y, clip.y + clip.height
|
|
|
|
# Filter points within clip region
|
|
left_in_clip = (
|
|
(left_screen[0] >= x_min) & (left_screen[0] <= x_max) &
|
|
(left_screen[1] >= y_min) & (left_screen[1] <= y_max)
|
|
)
|
|
right_in_clip = (
|
|
(right_screen[0] >= x_min) & (right_screen[0] <= x_max) &
|
|
(right_screen[1] >= y_min) & (right_screen[1] <= y_max)
|
|
)
|
|
both_in_clip = left_in_clip & right_in_clip
|
|
|
|
if not np.any(both_in_clip):
|
|
return np.empty((0, 2), dtype=np.float32)
|
|
|
|
# Select valid and clipped points
|
|
left_screen = left_screen[:, both_in_clip]
|
|
right_screen = right_screen[:, both_in_clip]
|
|
|
|
# Handle Y-coordinate inversion on hills
|
|
if not allow_invert and left_screen.shape[1] > 1:
|
|
y = left_screen[1, :] # y-coordinates
|
|
keep = y == np.minimum.accumulate(y)
|
|
if not np.any(keep):
|
|
return np.empty((0, 2), dtype=np.float32)
|
|
left_screen = left_screen[:, keep]
|
|
right_screen = right_screen[:, keep]
|
|
|
|
return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
|
|
|
|
@staticmethod
|
|
def _hsla_to_color(h, s, l, a):
|
|
rgb = colorsys.hls_to_rgb(h, l, s)
|
|
return rl.Color(
|
|
int(rgb[0] * 255),
|
|
int(rgb[1] * 255),
|
|
int(rgb[2] * 255),
|
|
int(a * 255)
|
|
)
|
|
|
|
@staticmethod
|
|
def _blend_colors(begin_colors, end_colors, t):
|
|
if t >= 1.0:
|
|
return end_colors
|
|
if t <= 0.0:
|
|
return begin_colors
|
|
|
|
inv_t = 1.0 - t
|
|
return [rl.Color(
|
|
int(inv_t * start.r + t * end.r),
|
|
int(inv_t * start.g + t * end.g),
|
|
int(inv_t * start.b + t * end.b),
|
|
int(inv_t * start.a + t * end.a)
|
|
) for start, end in zip(begin_colors, end_colors, strict=True)]
|