From 23a7fd7d81e36f7a0c08af117c7221568e4bea4d Mon Sep 17 00:00:00 2001
From: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
Date: Mon, 30 Mar 2026 22:46:34 -0400
Subject: [PATCH] Fix mici replay on tizi ui

---
 selfdrive/ui/mici/onroad/augmented_road_view.py | 7 +++++--
 selfdrive/ui/onroad/augmented_road_view.py      | 9 ++++++---
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index da7324e2..857af856 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -517,10 +517,13 @@ class AugmentedRoadView(CameraView):
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
+    # Ensure zoom views the whole area
+    zoom = max(zoom, w / (2 * cx), h / (2 * cy))
+
     # Calculate max allowed offsets with margins
     margin = 5
-    max_x_offset = cx * zoom - w / 2 - margin
-    max_y_offset = cy * zoom - h / 2 - margin
+    max_x_offset = max(0.0, cx * zoom - w / 2 - margin)
+    max_y_offset = max(0.0, cy * zoom - h / 2 - margin)
 
     # Calculate and clamp offsets to prevent out-of-bounds issues
     try:
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
index 2c6f5d1c..51959319 100644
--- a/selfdrive/ui/onroad/augmented_road_view.py
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -181,7 +181,7 @@ class AugmentedRoadView(CameraView):
     )
 
     # Render the base camera view
-    super()._render(rect)
+    super()._render(self._content_rect)
 
     # Draw all UI overlays
     self.model_renderer.render(self._content_rect)
@@ -286,10 +286,13 @@ class AugmentedRoadView(CameraView):
     w, h = self._content_rect.width, self._content_rect.height
     cx, cy = intrinsic[0, 2], intrinsic[1, 2]
 
+    # Ensure zoom views the whole area
+    zoom = max(zoom, w / (2 * cx), h / (2 * cy))
+
     # Calculate max allowed offsets with margins
     margin = 5
-    max_x_offset = cx * zoom - w / 2 - margin
-    max_y_offset = cy * zoom - h / 2 - margin
+    max_x_offset = max(0.0, cx * zoom - w / 2 - margin)
+    max_y_offset = max(0.0, cy * zoom - h / 2 - margin)
 
     # Calculate and clamp offsets to prevent out-of-bounds issues
     try: