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ui.cc: lane lines have different x values

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old-commit-hash: 1f24b1eb0f6c6b671d79744ec18168de81f46164
This commit is contained in:
Willem Melching
2021-03-11 15:39:37 +01:00
parent 362c98e6ba
commit 4ddc18145b
1 changed files with 3 additions and 1 deletions
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selfdrive/ui/ui.cc
+3 -1
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@@ -113,10 +113,10 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
const 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);
@@ -136,6 +136,8 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
const float path_length = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)),
0.0f, max_distance);
max_idx = get_path_length_idx(model_position, path_length);
} else {
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);
}