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better lines

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This commit is contained in:
royjr
2025-09-21 21:25:39 -04:00
parent 96ddbe35a1
commit 43de43b34a
1 changed files with 15 additions and 20 deletions
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selfdrive/ui/qt/onroad/model.cc
+15 -20
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@@ -66,8 +66,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
int max_idx = get_path_length_idx(lane_lines[0], max_distance);
for (int i = 0; i < std::size(lane_line_vertices); i++) {
lane_line_probs[i] = line_probs[i];
mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
// mapLineToPolygon(lane_lines[i], 0.025, 0, &lane_line_vertices[i], max_idx);
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 2) {
mapLineToPolygon(lane_lines[i], 0.075 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
} else {
mapLineToPolygon(lane_lines[i], 0.025 * lane_line_probs[i], 0, &lane_line_vertices[i], max_idx);
}
}
// update road edges
@@ -75,7 +78,11 @@ void ModelRenderer::update_model(const cereal::ModelDataV2::Reader &model, const
const auto &edge_stds = model.getRoadEdgeStds();
for (int i = 0; i < std::size(road_edge_vertices); i++) {
road_edge_stds[i] = edge_stds[i];
mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
if (QString::fromStdString(Params().get("VisualStyle")).toInt() == 2) {
mapLineToPolygon(road_edges[i], 0.1, 0, &road_edge_vertices[i], max_idx);
} else {
mapLineToPolygon(road_edges[i], 0.025, 0, &road_edge_vertices[i], max_idx);
}
}
// update path
@@ -182,28 +189,16 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
painter.drawPolygon(rightFill);
}
// Lane lines
// lanelines
for (int i = 0; i < std::size(lane_line_vertices); ++i) {
painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
// painter.setBrush(QColor("#E6E6E6"));
painter.setBrush(QColor::fromRgbF(0.902, 0.902, 0.902, std::clamp<float>(lane_line_probs[i], 0.0, 0.7)));
painter.drawPolygon(lane_line_vertices[i]);
}
// Road edges
// road edges
for (int i = 0; i < std::size(road_edge_vertices); ++i) {
if (road_edge_vertices[i].isEmpty()) continue;
QPainterPath path;
path.addPolygon(road_edge_vertices[i]);
QPainterPathStroker stroker;
stroker.setWidth(15);
QPainterPath thickPath = stroker.createStroke(path);
QRectF bounds = thickPath.boundingRect();
QLinearGradient grad(bounds.left(), bounds.top(), bounds.left(), bounds.bottom());
grad.setColorAt(1.0, QColor(0x55, 0x55, 0x55, 255));
grad.setColorAt(0.0, QColor(0x33, 0x33, 0x33, 0));
painter.setPen(Qt::NoPen);
painter.setBrush(grad);
painter.drawPath(thickPath);
painter.setBrush(QColor(0x55, 0x55, 0x55, 255));
painter.drawPolygon(road_edge_vertices[i]);
}
} else {