cleanup zoom

commaai · Jun 27, 2022 · 8cac9d6 · 8cac9d6
1 parent 59cf95d
commit 8cac9d6
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Showing 4 changed files with 9 additions and 14 deletions.
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
@@ -412,11 +412,7 @@ void NvgWindow::updateFrameMat() {
 
   s->fb_w = w;
   s->fb_h = h;
-  auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-  float zoom = ZOOM / intrinsic_matrix.v[0];
-  if (s->wide_camera) {
-    zoom *= 0.5;
-  }
+
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -187,11 +187,8 @@ void CameraViewWidget::updateFrameMat() {
     if (stream_type == VISION_STREAM_DRIVER) {
       frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
     } else {
-      auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-      float zoom = ZOOM / intrinsic_matrix.v[0];
-      if (stream_type == VISION_STREAM_WIDE_ROAD) {
-        zoom *= 0.5;
-      }
+      intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1;
 
       // Project point at "infinity" to compute x and y offsets
       // to ensure this ends up in the middle of the screen

diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
@@ -66,11 +66,15 @@ class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   int stream_width = 0;
   int stream_height = 0;
   int stream_stride = 0;
+  std::atomic<VisionStreamType> stream_type;
+  QThread *vipc_thread = nullptr;
+
+  // Calibration
   float x_offset = 0;
   float y_offset = 0;
+  float zoom = 1.0;
   mat3 calibration = DEFAULT_CALIBRATION;
-  std::atomic<VisionStreamType> stream_type;
-  QThread *vipc_thread = nullptr;
+  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
 
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;

diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
@@ -22,8 +22,6 @@ const int footer_h = 280;
 const int UI_FREQ = 20;   // Hz
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-// TODO: choose based on frame input size
-const float ZOOM = 2912.8;
 const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
 
 struct Alert {