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removed margin paramater from car_space_to_full_frame (#20017)

albatross
Dean Lee 2021-02-08 10:00:56 +08:00 committed by GitHub
parent 1fad5216ea
commit 40919a6f48
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 5 additions and 5 deletions
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3
selfdrive/ui/paint.cc
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@ -37,7 +37,8 @@ const mat3 intrinsic_matrix = (mat3){{
// Projects a point in car to space to the corresponding point in full frame
// image space.
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out, float margin) {
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out) {
const float margin = 500.0f;
const vec4 car_space_projective = (vec4){{in_x, in_y, in_z, 1.}};
// We'll call the car space point p.
// First project into normalized image coordinates with the extrinsics matrix.

2
selfdrive/ui/paint.hpp
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@ -1,7 +1,7 @@
#pragma once
#include "ui.hpp"
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out, float margin=0.0);
bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out);
void ui_draw(UIState *s);
void ui_draw_image(const UIState *s, const Rect &r, const char *name, float alpha);
void ui_draw_rect(NVGcontext *vg, const Rect &r, NVGcolor color, int width, float radius = 0);

5
selfdrive/ui/ui.cc
View File

@ -81,13 +81,12 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
int max_idx = -1;
vertex_data *v = &pvd->v[0];
const float margin = 500.0f;
for (int i = 0; ((i < TRAJECTORY_SIZE) and (line_x[i] < fmax(MIN_DRAW_DISTANCE, max_distance))); i++) {
v += car_space_to_full_frame(s, line_x[i], -line_y[i] - y_off, -line_z[i] + z_off, v, margin);
v += car_space_to_full_frame(s, line_x[i], -line_y[i] - y_off, -line_z[i] + z_off, v);
max_idx = i;
}
for (int i = max_idx; i >= 0; i--) {
v += car_space_to_full_frame(s, line_x[i], -line_y[i] + y_off, -line_z[i] + z_off, v, margin);
v += car_space_to_full_frame(s, line_x[i], -line_y[i] + y_off, -line_z[i] + z_off, v);
}
pvd->cnt = v - pvd->v;
assert(pvd->cnt < std::size(pvd->v));