Simplify lane line color calculation (commaai#199)

* temp * simplify lane line color calculation with 1d poly from numpy * simplify lane line color calculation with 1d poly from numpy * fix * not needed * remove comments * remove file
jamcar23 · Sep 8, 2020 · 480c178 · 480c178
1 parent aaadf7c
commit 480c178
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
@@ -306,7 +306,12 @@ static void update_all_lane_lines_data(UIState *s, const PathData &path, model_p
   update_lane_line_data(s, path.points, var, pstart + 2, path.validLen);
 }
 
-static void ui_draw_lane(UIState *s, const PathData *path, model_path_vertices_data *pstart, NVGcolor color) {
+static void ui_draw_lane(UIState *s, const PathData *path, model_path_vertices_data *pstart, float prob) {
+  float lane_pos = std::abs(path->poly[3]);  // get redder when line is closer to car
+  float hue = 332.5 * lane_pos - 332.5;  // equivalent to {1.4, 1.0}: {133, 0} (green to red)
+  hue = fmin(133, fmax(0, hue)) / 360.;  // clip and normalize
+  NVGcolor color = nvgHSLA(hue, 0.73, 0.64, prob * 255);
+
   ui_draw_lane_line(s, pstart, color);
   color.a /= 25;
   ui_draw_lane_line(s, pstart + 1, color);