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Revert "ui/update_model: do not recalculate the max_idx If there is no lead (#23356)" 

This reverts commit f561d84c62.
pull/23409/head^2
Willem Melching 2022-01-07 14:31:23 +01:00
parent 09a835916b
commit c4b36ce11e
1 changed files with 2 additions and 2 deletions
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4
selfdrive/ui/ui.cc
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@ -73,11 +73,11 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
auto model_position = model.getPosition();
float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
int max_idx = get_path_length_idx(model_position, max_distance);
// update lane lines
const auto lane_lines = model.getLaneLines();
const auto lane_line_probs = model.getLaneLineProbs();
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(scene.lane_line_vertices); i++) {
scene.lane_line_probs[i] = lane_line_probs[i];
update_line_data(s, lane_lines[i], 0.025 * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx);
@ -96,8 +96,8 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
if (lead_one.getStatus()) {
const float lead_d = lead_one.getDRel() * 2.;
max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
max_idx = get_path_length_idx(model_position, max_distance);
}
max_idx = get_path_length_idx(model_position, max_distance);
update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
}