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This commit is contained in:
royjr
2026-07-15 18:59:20 -04:00
parent 3c58d5f527
commit c796e0df0a
2 changed files with 4 additions and 5 deletions
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selfdrive/ui/sunnypilot/onroad/radar_tracks.py
+2 -3
View File
@@ -144,8 +144,6 @@ class RadarTracks:
d_rel, y_rel, v_rel = track.dRel, track.yRel, track.vRel
if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel)):
continue
if radar_track_is_stationary(v_rel, v_ego):
continue
pt = map_to_screen(d_rel, -y_rel, path_offset_z)
if pt is None:
@@ -153,7 +151,8 @@ class RadarTracks:
x, y = pt[0] + screen_offset[0], pt[1] + screen_offset[1]
color = radar_track_color(v_rel, v_ego)
radius = track_size
stationary = radar_track_is_stationary(v_rel, v_ego)
radius = max(1, track_size - 4) if stationary else track_size
track_id = int(track.trackId)
highlight_color = highlighted_tracks.get(track_id)
if highlight_color is not None:
selfdrive/ui/sunnypilot/onroad/test_radar_tracks.py
+2 -2
View File
@@ -94,7 +94,7 @@ def test_draw_radar_tracks_allows_unknown_acceleration(monkeypatch):
assert drawn_colors == [color_tuple(radar_track_color(-5))]
def test_draw_radar_tracks_hides_stationary_dots(monkeypatch):
def test_draw_radar_tracks_shrinks_stationary_dots(monkeypatch):
live_tracks = car.RadarData.new_message()
point = live_tracks.init("points", 1)[0]
point.dRel = 10
@@ -108,7 +108,7 @@ def test_draw_radar_tracks_hides_stationary_dots(monkeypatch):
live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=6, v_ego=20,
)
assert drawn_sizes == []
assert drawn_sizes == [2]
def test_draw_radar_tracks_keeps_matched_speed_dots_large(monkeypatch):