From 124b0180c3264b2fa62a41f809dd6b196e72ab18 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 21 May 2024 10:38:24 +0800 Subject: [PATCH] ui: improve `update_line_data()` (#32354) improve update_line_data old-commit-hash: 0678644a8f1c5292d7904ecde6e55aeb90550b52 --- selfdrive/ui/ui.cc | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index e5309c9690d067..c4ddd17e252602 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -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,