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ui: improve `update_line_data()` (#32354) 

improve update_line_data
old-commit-hash: 0678644a8f
This commit is contained in:
Dean Lee 2024-05-21 10:38:24 +08:00 committed by GitHub
parent 70d14c99e1
commit 124b0180c3
1 changed files with 6 additions and 9 deletions
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15
selfdrive/ui/ui.cc
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@ -57,26 +57,23 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con
void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
QPolygonF left_points, right_points;
left_points.reserve(max_idx + 1);
right_points.reserve(max_idx + 1);
QPointF left, right;
pvd->clear();
for (int i = 0; i <= max_idx; i++) {
// highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera
if (line_x[i] < 0) continue;
QPointF left, right;
bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right);
if (l && r) {
// For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts
if (!allow_invert && left_points.size() && left.y() > left_points.back().y()) {
if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) {
continue;
}
left_points.push_back(left);
right_points.push_front(right);
pvd->push_back(left);
pvd->push_front(right);
}
}
*pvd = left_points + right_points;
}
void update_model(UIState *s,