diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 67da8db3f..939b5a2fb 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -97,7 +97,7 @@ void update_model(UIState *s, int max_idx = get_path_length_idx(lane_lines[0], max_distance); for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { scene.lane_line_probs[i] = lane_line_probs[i]; - update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); + update_line_data(s, lane_lines[i], (scene.model_ui ? scene.lane_line_width : 0.025) * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); } // update road edges @@ -403,6 +403,7 @@ void ui_update_frogpilot_params(UIState *s, Params ¶ms) { scene.model_ui = params.getBool("ModelUI"); scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth"); scene.hide_lead_marker = scene.model_ui && params.getBool("HideLeadMarker"); + scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f; bool quality_of_life_controls = params.getBool("QOLControls"); scene.reverse_cruise = quality_of_life_controls && params.getBool("ReverseCruise"); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index c3aa5ede1..1e42a1669 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -204,6 +204,7 @@ typedef struct UIScene { float adjusted_cruise; float friction; float lane_detection_width; + float lane_line_width; float lane_width_left; float lane_width_right; float lat_accel;