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ui/model: use height from LiveCalibration instead of hardcoded offset Z (#33802)

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* add PATH_OFFSET_Z constant

* use height from liveCalibration
This commit is contained in:
Dean Lee
2024-11-13 06:33:25 +08:00
committed by GitHub
parent 4170534c02
commit d050e0c2ac
2 changed files with 4 additions and 2 deletions
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selfdrive/ui/qt/onroad/model.cc
+3 -2
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@@ -25,6 +25,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
clip_region = surface_rect.adjusted(-CLIP_MARGIN, -CLIP_MARGIN, CLIP_MARGIN, CLIP_MARGIN);
experimental_mode = sm["selfdriveState"].getSelfdriveState().getExperimentalMode();
longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
painter.save();
@@ -55,7 +56,7 @@ void ModelRenderer::update_leads(const cereal::RadarState::Reader &radar_state,
const auto &lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
if (lead_data.getStatus()) {
float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &lead_vertices[i]);
mapToScreen(lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &lead_vertices[i]);
}
}
}
@@ -87,7 +88,7 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
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);
mapLineToPolygon(model_position, 0.9, 1.22, &track_vertices, max_idx, false);
mapLineToPolygon(model_position, 0.9, path_offset_z, &track_vertices, max_idx, false);
}
void ModelRenderer::drawLaneLines(QPainter &painter) {
selfdrive/ui/qt/onroad/model.h
+1
View File
@@ -29,6 +29,7 @@ private:
bool prev_allow_throttle = true;
float lane_line_probs[4] = {};
float road_edge_stds[2] = {};
float path_offset_z = 1.22f;
QPolygonF track_vertices;
QPolygonF lane_line_vertices[4] = {};
QPolygonF road_edge_vertices[2] = {};