continue

selfdrive/ui/paint.cc

@@ -199,20 +199,24 @@ static void ui_draw_vision_lane_lines(UIState *s) {
   const UIScene *scene = &s->scene;
   const bool model_updated = s->sm->updated("modelV2");
   // paint lanelines
+  const auto lane_lines = scene->model.getLaneLines();
+  const auto lane_line_probs = scene->model.getLaneLineProbs();
   for (int i = 0; i < std::size(s->lane_line_vertices); i++) {
     if (model_updated) {
-      update_line_data(s, scene->model.getLaneLines()[i], 0.025*scene->lane_line_probs[i], 1.22, &s->lane_line_vertices[i], scene->max_distance);
+      update_line_data(s, lane_lines[i], 0.025 * lane_line_probs[i], 1.22, &s->lane_line_vertices[i], scene->max_distance);
     }
-    NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, scene->lane_line_probs[i]);
+    NVGcolor color = nvgRGBAf(1.0, 1.0, 1.0, lane_line_probs[i]);
     ui_draw_line(s, s->lane_line_vertices[i].v, s->lane_line_vertices[i].cnt, &color, nullptr);
   }
 
   // paint road edges
+  const auto road_edges = scene->model.getRoadEdges();
+  const auto road_edge_stds = scene->model.getRoadEdgeStds();
   for (int i = 0; i < std::size(s->road_edge_vertices); i++) {
     if (model_updated) {
-      update_line_data(s, scene->model.getRoadEdges()[i], 0.025, 1.22, &s->road_edge_vertices[i], scene->max_distance);
+      update_line_data(s, road_edges[i], 0.025, 1.22, &s->road_edge_vertices[i], scene->max_distance);
     }
-    NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0-scene->road_edge_stds[i], 0.0, 1.0));
+    NVGcolor color = nvgRGBAf(1.0, 0.0, 0.0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0));
     ui_draw_line(s, s->road_edge_vertices[i].v, s->road_edge_vertices[i].cnt, &color, nullptr);
   }
 

selfdrive/ui/ui.cc

@@ -172,21 +172,6 @@ void update_sockets(UIState *s) {
   if (sm.updated("modelV2")) {
     scene.model = sm["modelV2"].getModelV2();
     scene.max_distance = fmin(scene.model.getPosition().getX()[TRAJECTORY_SIZE - 1], MAX_DRAW_DISTANCE);
-    for (int ll_idx = 0; ll_idx < 4; ll_idx++) {
-      if (scene.model.getLaneLineProbs().size() > ll_idx) {
-        scene.lane_line_probs[ll_idx] = scene.model.getLaneLineProbs()[ll_idx];
-      } else {
-        scene.lane_line_probs[ll_idx] = 0.0;
-      }
-    }
-
-    for (int re_idx = 0; re_idx < 2; re_idx++) {
-      if (scene.model.getRoadEdgeStds().size() > re_idx) {
-        scene.road_edge_stds[re_idx] = scene.model.getRoadEdgeStds()[re_idx];
-      } else {
-        scene.road_edge_stds[re_idx] = 1.0;
-      }
-    }
   }
   if (sm.updated("uiLayoutState")) {
     auto data = sm["uiLayoutState"].getUiLayoutState();

selfdrive/ui/ui.hpp

@@ -126,8 +126,6 @@ typedef struct UIScene {
   line left_road_edge;
   line right_road_edge;
   float max_distance;
-  float lane_line_probs[4];
-  float road_edge_stds[2];
 } UIScene;
 
 typedef struct {