From 93cd4eae55a788eb7530fe369db65c7fffc5d931 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 6 Jan 2021 23:34:29 +0800
Subject: [PATCH] paint.cc car_space_to_full_frame less paramaters (#19676)

---
 selfdrive/ui/paint.cc  | 15 +++++++--------
 selfdrive/ui/paint.hpp |  2 +-
 selfdrive/ui/ui.cc     |  4 ++--
 3 files changed, 10 insertions(+), 11 deletions(-)

diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 4dd7186f40..854eaf907f 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -41,7 +41,7 @@ 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, float *out_x, float *out_y, float margin) {
+bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out, float margin) {
   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.
@@ -52,10 +52,10 @@ bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_
   const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
 
   // Project.
-  *out_x = KEp.v[0] / KEp.v[2];
-  *out_y = KEp.v[1] / KEp.v[2];
+  out->x = KEp.v[0] / KEp.v[2];
+  out->y = KEp.v[1] / KEp.v[2];
 
-  return *out_x >= -margin && *out_x <= s->fb_w + margin && *out_y >= -margin && *out_y <= s->fb_h + margin;
+  return out->x >= -margin && out->x <= s->fb_w + margin && out->y >= -margin && out->y <= s->fb_h + margin;
 }
 
 
@@ -68,11 +68,10 @@ static void ui_draw_text(NVGcontext *vg, float x, float y, const char* string, f
 
 static void draw_chevron(UIState *s, float x_in, float y_in, float sz,
                           NVGcolor fillColor, NVGcolor glowColor) {
-  float x, y;
-  if (!car_space_to_full_frame(s, x_in, y_in, 0.0, &x, &y)) {
-    return;
-  }
+  vertex_data out;
+  if (!car_space_to_full_frame(s, x_in, y_in, 0.0, &out)) return;
 
+  auto [x, y] = out;
   sz = std::clamp((sz * 30) / (x_in / 3 + 30), 15.0f, 30.0f);
 
   // glow
diff --git a/selfdrive/ui/paint.hpp b/selfdrive/ui/paint.hpp
index f3b6d1a016..7119579dee 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, float *out_x, float *out_y, 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, float margin=0.0);
 void ui_draw(UIState *s);
 void ui_draw_image(NVGcontext *vg, const Rect &r, int image, float alpha);
 void ui_draw_rect(NVGcontext *vg, float x, float y, float w, float h, NVGcolor color, float r = 0, int width = 0);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ee75f8ed01..8cb5be63fe 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -113,11 +113,11 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
   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->x, &v->y, margin);
+    v += car_space_to_full_frame(s, line_x[i], -line_y[i] - y_off, -line_z[i] + z_off, v, margin);
     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->x, &v->y, margin);
+    v += car_space_to_full_frame(s, line_x[i], -line_y[i] + y_off, -line_z[i] + z_off, v, margin);
   }
   pvd->cnt = v - pvd->v;
   assert(pvd->cnt < std::size(pvd->v));