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2024-05-02 23:15:07 -05:00
parent 98f79c0c1f
commit ba9a9f4cf1
1 changed files with 14 additions and 15 deletions
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29
selfdrive/ui/qt/onroad.cc
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@@ -874,27 +874,26 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
acceleration.push_back(acceleration_const[i]); acceleration.push_back(acceleration_const[i]);
} }
try { try {
for (int i = 0; i < max_len; ++i) { for (int i = 0; i < max_len; ++i) {
if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue; if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
float lin_grad_point = (height() - scene.track_vertices[i].y()) / height(); float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
double _h, _s, _l; // Use double for compatibility with QColor::getHslF() double _h, _s, _l; // Use double for compatibility with QColor::getHslF()
center_lane_color.getHslF(&_h, &_s, &_l); center_lane_color.getHslF(&_h, &_s, &_l);
// Calculate saturation and lightness based on acceleration // Calculate saturation and lightness based on acceleration
float adjusted_saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f); float adjusted_saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f);
float adjusted_lightness = util::map_val(adjusted_saturation, 0.f, 1.f, static_cast<float>(_l), 0.95f); // Using base lightness as a starting point float adjusted_lightness = util::map_val(adjusted_saturation, 0.f, 1.f, static_cast<float>(_l), 0.95f); // Using base lightness as a starting point
// Calculate dynamic alpha based on lin_grad_point // Calculate dynamic alpha based on lin_grad_point
float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, path_alpha, 0.f); float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, path_alpha, 0.f);
QColor final_color = QColor::fromHslF(static_cast<float>(_h / 360.f), adjusted_saturation, adjusted_lightness, dynamic_alpha); QColor final_color = QColor::fromHslF(static_cast<float>(_h / 360.f), adjusted_saturation, adjusted_lightness, dynamic_alpha);
bg.setColorAt(lin_grad_point, final_color); bg.setColorAt(lin_grad_point, final_color);
i += (i + 2) < max_len ? 1 : 0; // Skipping a point to optimize rendering i += (i + 2) < max_len ? 1 : 0; // Skipping a point to optimize rendering
}
} }
} catch () { } catch () {
// Default shading if for some reason the above code fails // Default shading if for some reason the above code fails