mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-29 21:22:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

Bigger Radar Points

Browse Source
This commit is contained in:
firestarsdog
2026-07-29 00:03:07 -04:00
parent f65be7b584
commit c8a1fb3895
1 changed files with 9 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/onroad/model_renderer.py
+9 -3
View File
@@ -604,8 +604,12 @@ class ModelRenderer(Widget):
path_x_array = self._path.raw_points[:, 0]
line_z = self._path.raw_points[:, 2]
radius = 4.0
red_color = rl.Color(255, 0, 0, 200)
# Keep raw radar detections visible over bright road imagery without
# making them look like confirmed lead-vehicle markers.
radius = 7.0
outline_radius = 9.0
outline_color = rl.Color(0, 0, 0, 170)
red_color = rl.Color(255, 40, 40, 230)
# Pre-extract matrix values and clip bounds for native loop speed
t = self._car_space_transform
@@ -653,7 +657,9 @@ class ModelRenderer(Widget):
x = max(rect_x, min(x, rect_xmax))
y = max(rect_y, min(y, rect_ymax))
rl.draw_circle_v(rl.Vector2(x, y), radius, red_color)
marker = rl.Vector2(x, y)
rl.draw_circle_v(marker, outline_radius, outline_color)
rl.draw_circle_v(marker, radius, red_color)
def _update_adjacent_paths(self, max_idx: int, max_distance: float):
"""Compute adjacent lane path polygons by averaging lane line pairs."""