From 40919a6f484042fc486c5da7d30b2fcc1d778e60 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 8 Feb 2021 10:00:56 +0800
Subject: [PATCH] removed margin paramater from car_space_to_full_frame
 (#20017)

---
 selfdrive/ui/paint.cc  | 3 ++-
 selfdrive/ui/paint.hpp | 2 +-
 selfdrive/ui/ui.cc     | 5 ++---
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 3b1a17e6..350a4124 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -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.
diff --git a/selfdrive/ui/paint.hpp b/selfdrive/ui/paint.hpp
index 7bab393a..08294649 100644
--- a/selfdrive/ui/paint.hpp
+++ b/selfdrive/ui/paint.hpp
@@ -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);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3946ec4b..4a41113e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -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));