mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-12 12:52:13 +08:00
Code Issues Packages Projects Releases Wiki Activity

ui/update_model: do not recalculate the max_idx If there is no lead (#23356)

Browse Source 
old-commit-hash: f561d84c627273537d1e30f66d48fa39ec014950
This commit is contained in:
Dean Lee
2022-01-04 18:39:18 +08:00
committed by GitHub
parent ee850f7307
commit 36b506c880
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/ui.cc
+2 -2
View File
@@ -71,11 +71,11 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
auto model_position = model.getPosition();
float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
int max_idx = get_path_length_idx(model_position, max_distance);
// update lane lines
const auto lane_lines = model.getLaneLines();
const auto lane_line_probs = model.getLaneLineProbs();
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);
@@ -94,8 +94,8 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
if (lead_one.getStatus()) {
const float lead_d = lead_one.getDRel() * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
max_idx = get_path_length_idx(model_position, max_distance);
}
max_idx = get_path_length_idx(model_position, max_distance);
update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
}