Driver camera view when in reverse

Added toggle to show the driver camera when in the reverse gear.
2024-01-12 22:39:30 -07:00
parent f016bd7e16
commit aae7388feb
7 changed files with 35 additions and 19 deletions
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -217,6 +217,7 @@ void CameraWidget::updateFrameMat() {
    if (active_stream_type == VISION_STREAM_DRIVER) {
      if (stream_width > 0 && stream_height > 0) {
        frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+        frame_mat.v[0] *= -1.0;
      }
    } else {
      // Project point at "infinity" to compute x and y offsets