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UI: new laneless design (#24169)

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* stash

* Revert "stash"

This reverts commit f0019010e28ffb6d70b3c84666572f30c22077c9.

* new laneless ui

* clean up

* always draw lane lines

* no compensation

* make sure it's long enough

* debug time

* tune design

* tune design 2

* correct scaling with new updated curve hue

* debug time

* full test

* revert test

* move yellow back a bit
old-commit-hash: 998cd7fa204081c12f7211113044dfa254a9e24c
This commit is contained in:
Shane Smiskol
2022-04-14 20:09:51 -07:00
committed by GitHub
parent 6371a16f4e
commit 4d820e1096
2 changed files with 34 additions and 16 deletions
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selfdrive/ui/qt/onroad.cc
+33 -15
View File
@@ -304,23 +304,41 @@ void NvgWindow::updateFrameMat(int w, int h) {
.translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
}
void NvgWindow::drawLaneLines(QPainter &painter, const UIScene &scene) {
if (!scene.end_to_end) {
// lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, scene.lane_line_probs[i]));
painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
}
// road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
}
void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
const UIScene &scene = s->scene;
// lanelines
for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
}
// road edges
for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
}
// paint path
QLinearGradient bg(0, height(), 0, height() / 4);
bg.setColorAt(0, scene.end_to_end ? redColor() : whiteColor());
bg.setColorAt(1, scene.end_to_end ? redColor(0) : whiteColor(0));
if (scene.end_to_end) {
const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation();
float orientation_future = 0;
if (orientation.getZ().size() > 16) {
orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds
}
// straight: 112, in turns: 70
float curve_hue = fmax(70, 112 - (orientation_future * 420));
// FIXME: painter.drawPolygon can be slow if hue is not rounded
curve_hue = int(curve_hue * 100 + 0.5) / 100;
bg.setColorAt(0.0 / 1.5, QColor::fromHslF(148 / 360., 1.0, 0.5, 1.0));
bg.setColorAt(0.55 / 1.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.8));
bg.setColorAt(0.9 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.65, 0.6));
bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.65, 0.0));
} else {
bg.setColorAt(0, whiteColor());
bg.setColorAt(1, whiteColor(0));
}
painter.setBrush(bg);
painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
}
@@ -366,7 +384,7 @@ void NvgWindow::paintGL() {
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(Qt::NoPen);
drawLaneLines(painter, s->scene);
drawLaneLines(painter, s);
if (s->scene.longitudinal_control) {
auto leads = (*s->sm)["modelV2"].getModelV2().getLeadsV3();
selfdrive/ui/qt/onroad.h
+1 -1
View File
@@ -74,7 +74,7 @@ protected:
void initializeGL() override;
void showEvent(QShowEvent *event) override;
void updateFrameMat(int w, int h) override;
void drawLaneLines(QPainter &painter, const UIScene &scene);
void drawLaneLines(QPainter &painter, const UIState *s);
void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }