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2024-05-02 20:30:23 -05:00
parent 7f42a4ba28
commit fd0029be6c
1 changed files with 14 additions and 14 deletions
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28
selfdrive/ui/qt/onroad.cc
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@@ -825,10 +825,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// CLEARPILOT: color channel code rewriten to allow custom colors
// Define base RGB color and alpha
int base_red = 255; // Example red color
int base_green = 200; // Example green color
int base_blue = 150; // Example blue color
float base_alpha = 0.75; // Example base alpha
int base_red = 139; // Dark red component
int base_green = 0; // Minimal green component
int base_blue = 0; // Minimal blue component
float base_alpha = 0.6; // 60% opacity
QColor baseColor(base_red, base_green, base_blue);
SubMaster &sm = *(s->sm);
@@ -876,22 +877,21 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
float path_hue = std::max(std::min(60 + acceleration[i] * 35, 120.f), 0.f);
path_hue = static_cast<int>(path_hue * 100 + 0.5) / 100; // Ensuring hue is rounded to reduce processing
float saturation = std::min(std::abs(acceleration[i] * 1.5f), 1.f);
float lightness = util::map_val(saturation, 0.5f, 0.0f, 0.95f, 0.62f); // lighter when grey
float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, base_alpha, 0.0f);
QColor base_color = QColor::fromRgb(base_red, base_green, base_blue);
float h, s, l;
base_color.getHslF(&h, &s, &l);
QColor final_color = QColor::fromHslF(path_hue / 360., saturation, lightness, dynamic_alpha);
// Calculate saturation and lightness based on acceleration
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, 0.62f, 0.95f);
// Calculate dynamic alpha based on lin_grad_point
float dynamic_alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, base_alpha, 0.f);
QColor final_color = QColor::fromHslF(h / 360.f, adjusted_saturation, adjusted_lightness, dynamic_alpha);
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
}
} else {