brianhansonxyz/oscarpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Camera view selection

Browse Source 
Added toggle to select the preferred camera view between "auto", "standard", "wide", and "driver".
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent b4550a13ba
commit 763ee059d4
7 changed files with 17 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
selfdrive/ui/qt/onroad.cc
View File

@@ -651,11 +651,12 @@ void AnnotatedCameraWidget::paintGL() {
} else if (v_ego > 15) {
wide_cam_requested = false;
}
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode() || cameraView == 2;
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
}
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
wide_cam_requested && cameraView != 1 ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
if (s->scene.calibration_valid) {
@@ -740,6 +741,7 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
alwaysOnLateral = scene.always_on_lateral_active;
cameraView = scene.camera_view;
experimentalMode = scene.experimental_mode;
if (alwaysOnLateral) {