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add road edges to vision

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This commit is contained in:
royjr
2025-09-21 14:31:58 -04:00
parent 35c6af0190
commit 74dbcd699b
1 changed files with 16 additions and 7 deletions
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selfdrive/ui/qt/onroad/model.cc
+16 -7
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@@ -1,4 +1,5 @@
#include "selfdrive/ui/qt/onroad/model.h"
#include <QPainterPath>
void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
auto *s = uiState();
@@ -188,13 +189,21 @@ void ModelRenderer::drawLaneLines(QPainter &painter) {
}
// Road edges
// for (int i = 0; i < std::size(road_edge_vertices); ++i) {
// painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - road_edge_stds[i], 0.0, 1.0)));
// // painter.setBrush(QColor("#FF3B30"));
// painter.setPen(QPen(QColor("#A0A0A0"), 20));
// painter.drawPolygon(road_edge_vertices[i]);
// painter.setPen(Qt::NoPen);
// }
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);
}
} else {
// lanelines