feat: update rviz2 overlay (autowarefoundation#6883)

Signed-off-by: KhalilSelyan <khalil@leodrive.ai>

Author: KhalilSelyan

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp

@@ -47,7 +47,7 @@ class TurnSignalsDisplay
 
 private:
   QImage arrowImage;
-  QColor gray = QColor(46, 46, 46);
+  QColor gray = QColor(79, 79, 79);
 
   int current_turn_signal_;    // Internal variable to store turn signal state
   int current_hazard_lights_;  // Internal variable to store hazard lights state

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp

@@ -81,18 +81,19 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
       break;
   }
 
-  QFont gearFont("Quicksand", 16, QFont::Bold);
+  QFont gearFont("Quicksand", 12, QFont::Bold);
   painter.setFont(gearFont);
   QPen borderPen(gray);
-  borderPen.setWidth(4);
+  borderPen.setWidth(1);
   painter.setPen(borderPen);
 
-  int gearBoxSize = 30;
-  int gearX = backgroundRect.left() + 30 + gearBoxSize;
-  int gearY = backgroundRect.height() - gearBoxSize - 20;
+  double gearBoxSize = 37.5;
+  double gearX = backgroundRect.left() + 54;
+  double gearY = backgroundRect.height() / 2 - gearBoxSize / 2;
   QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize);
-  painter.setBrush(QColor(0, 0, 0, 0));
+  painter.setBrush(gray);
   painter.drawRoundedRect(gearRect, 10, 10);
+  painter.setPen(Qt::black);
   painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString));
 }
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp

@@ -39,11 +39,11 @@ namespace autoware_overlay_rviz_plugin
 SignalDisplay::SignalDisplay()
 {
   property_width_ = new rviz_common::properties::IntProperty(
-    "Width", 517, "Width of the overlay", this, SLOT(updateOverlaySize()));
+    "Width", 550, "Width of the overlay", this, SLOT(updateOverlaySize()));
   property_height_ = new rviz_common::properties::IntProperty(
-    "Height", 175, "Height of the overlay", this, SLOT(updateOverlaySize()));
+    "Height", 100, "Height of the overlay", this, SLOT(updateOverlaySize()));
   property_left_ = new rviz_common::properties::IntProperty(
-    "Left", 10, "Left position of the overlay", this, SLOT(updateOverlayPosition()));
+    "Left", 0, "Left position of the overlay", this, SLOT(updateOverlayPosition()));
   property_top_ = new rviz_common::properties::IntProperty(
     "Top", 10, "Top position of the overlay", this, SLOT(updateOverlayPosition()));
   property_signal_color_ = new rviz_common::properties::ColorProperty(
@@ -325,35 +325,31 @@ void SignalDisplay::drawWidget(QImage & hud)
   QPainter painter(&hud);
   painter.setRenderHint(QPainter::Antialiasing, true);
 
-  QRectF backgroundRect(0, 0, 322, hud.height());
+  QRectF backgroundRect(0, 0, 550, hud.height());
   drawHorizontalRoundedRectangle(painter, backgroundRect);
 
   // Draw components
-  if (steering_wheel_display_) {
-    steering_wheel_display_->drawSteeringWheel(painter, backgroundRect);
-  }
   if (gear_display_) {
     gear_display_->drawGearIndicator(painter, backgroundRect);
   }
+
+  if (steering_wheel_display_) {
+    steering_wheel_display_->drawSteeringWheel(painter, backgroundRect);
+  }
+
   if (speed_display_) {
     speed_display_->drawSpeedDisplay(painter, backgroundRect);
   }
   if (turn_signals_display_) {
     turn_signals_display_->drawArrows(painter, backgroundRect, property_signal_color_->getColor());
   }
 
-  // a 27px space between the two halves of the HUD
-
-  QRectF smallerBackgroundRect(340, 0, 190.0 / 2, hud.height());
-
-  drawVerticalRoundedRectangle(painter, smallerBackgroundRect);
-
   if (traffic_display_) {
-    traffic_display_->drawTrafficLightIndicator(painter, smallerBackgroundRect);
+    traffic_display_->drawTrafficLightIndicator(painter, backgroundRect);
   }
 
   if (speed_limit_display_) {
-    speed_limit_display_->drawSpeedLimitIndicator(painter, smallerBackgroundRect);
+    speed_limit_display_->drawSpeedLimitIndicator(painter, backgroundRect);
   }
 
   painter.end();
@@ -364,8 +360,8 @@ void SignalDisplay::drawHorizontalRoundedRectangle(
 {
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 0);  // Hue, Saturation, Value
-  colorFromHSV.setAlphaF(0.65);  // Transparency
+  colorFromHSV.setHsv(0, 0, 29);  // Hue, Saturation, Value
+  colorFromHSV.setAlphaF(0.60);   // Transparency
 
   painter.setBrush(colorFromHSV);
 
@@ -404,7 +400,9 @@ void SignalDisplay::updateOverlaySize()
 void SignalDisplay::updateOverlayPosition()
 {
   std::lock_guard<std::mutex> lock(mutex_);
-  overlay_->setPosition(property_left_->getInt(), property_top_->getInt());
+  overlay_->setPosition(
+    property_left_->getInt(), property_top_->getInt(), HorizontalAlignment::CENTER,
+    VerticalAlignment::TOP);
   queueRender();
 }
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp

@@ -85,7 +85,7 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun
     backgroundRect.width() / 2 - referenceRect.width() / 2 - 5, backgroundRect.height() / 2);
 
   QString speedNumber = QString::number(current_speed_, 'f', 0);
-  int fontSize = 60;
+  int fontSize = 40;
   QFont speedFont("Quicksand", fontSize);
   painter.setFont(speedFont);
 
@@ -94,16 +94,17 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun
 
   // Center the speed number in the backgroundRect
   QPointF speedPos(
-    backgroundRect.center().x() - speedNumberRect.width() / 2, backgroundRect.center().y());
+    backgroundRect.center().x() - speedNumberRect.width() / 2,
+    backgroundRect.center().y() + speedNumberRect.bottom());
   painter.setPen(gray);
   painter.drawText(speedPos, speedNumber);
 
-  QFont unitFont("Quicksand", 14);
+  QFont unitFont("Quicksand", 8, QFont::DemiBold);
   painter.setFont(unitFont);
   QString speedUnit = "km/h";
   QRect unitRect = painter.fontMetrics().boundingRect(speedUnit);
   QPointF unitPos(
-    (backgroundRect.width() / 2 - unitRect.width() / 2), referencePos.y() + unitRect.height());
+    (backgroundRect.width() / 2 - unitRect.width() / 2), referencePos.y() + unitRect.height() + 15);
   painter.drawText(unitPos, speedUnit);
 }
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp

@@ -24,6 +24,7 @@
 #include <OgreTechnique.h>
 #include <OgreTexture.h>
 #include <OgreTextureManager.h>
+#include <qobject.h>
 
 #include <algorithm>
 #include <cmath>
@@ -99,10 +100,9 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
   }
 
   // Define the area for the outer circle
-  QRectF outerCircleRect = backgroundRect;
-  outerCircleRect.setWidth(backgroundRect.width() - 30);
-  outerCircleRect.setHeight(backgroundRect.width() - 30);
-  outerCircleRect.moveTopLeft(QPointF(backgroundRect.left() + 15, backgroundRect.top() + 10));
+  QRectF outerCircleRect = QRectF(45, 45, 45, 45);
+  outerCircleRect.moveTopRight(
+    QPointF(backgroundRect.right() - 44, backgroundRect.top() + outerCircleRect.height() / 2 + 5));
 
   // Now use borderColor for drawing
   painter.setPen(QPen(borderColor, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
@@ -112,24 +112,30 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
 
   // Define the area for the inner circle
   QRectF innerCircleRect = outerCircleRect;
-  innerCircleRect.setWidth(outerCircleRect.width() / 1.25);
-  innerCircleRect.setHeight(outerCircleRect.height() / 1.25);
+  innerCircleRect.setWidth(outerCircleRect.width() / 1.09);
+  innerCircleRect.setHeight(outerCircleRect.height() / 1.09);
   innerCircleRect.moveCenter(outerCircleRect.center());
 
+  QRectF innerCircleRect2 = innerCircleRect;
+
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 0);  // Hue, Saturation, Value
-
+  colorFromHSV.setHsv(0, 0, 29);  // Hue, Saturation, Value
+  colorFromHSV.setAlphaF(0.60);   // Transparency
   painter.setBrush(colorFromHSV);
   painter.drawEllipse(innerCircleRect);
 
+  // Add a second inner circle as a mask to make the speed limit indicator look like a ring
+  // and follow the rest of the background color as close as possible
+  painter.drawEllipse(innerCircleRect2);
+
   int current_limit_int = std::round(current_limit * 3.6);
 
   // Define the text to be drawn
   QString text = QString::number(current_limit_int);
 
   // Set the font and color for the text
-  QFont font = QFont("Quicksand", 24, QFont::Bold);
+  QFont font = QFont("Quicksand", 16, QFont::Bold);
 
   painter.setFont(font);
   // #C2C2C2

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp

@@ -82,8 +82,8 @@ void SteeringWheelDisplay::drawSteeringWheel(QPainter & painter, const QRectF &
   // Rotate the wheel
   float steeringAngle = steering_angle_;  // No need to round here
   // Calculate the position
-  int wheelCenterX = backgroundRect.right() - wheel.width() - 17.5;
-  int wheelCenterY = backgroundRect.height() - wheel.height() + 15;
+  int wheelCenterX = backgroundRect.left() + wheel.width() + 54 + 54;
+  int wheelCenterY = backgroundRect.height() / 2;
 
   // Rotate the wheel image
   QTransform rotationTransform;

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp

@@ -62,12 +62,10 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
   painter.setBrush(QBrush(tl_gray_, Qt::SolidPattern));
   painter.setPen(Qt::NoPen);
   // Define the area for the circle (background)
-  QRectF circleRect = backgroundRect;
-  circleRect.setWidth(backgroundRect.width() - 30);
-  circleRect.setHeight(backgroundRect.width() - 30);
+  QRectF circleRect = QRectF(50, 50, 50, 50);
   circleRect.moveTopRight(QPointF(
-    backgroundRect.left() + circleRect.width() + 15,
-    backgroundRect.top() + circleRect.height() + 30));
+    backgroundRect.right() - circleRect.width() - 75,
+    backgroundRect.top() + circleRect.height() / 2));
   painter.drawEllipse(circleRect);
 
   if (!current_traffic_.elements.empty()) {
@@ -96,7 +94,7 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
   }
 
   // Scaling factor (e.g., 1.5 for 150% size)
-  float scaleFactor = 1.00;
+  float scaleFactor = 0.75;
 
   // Calculate the scaled size
   QSize scaledSize = traffic_light_image_.size() * scaleFactor;

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp

@@ -72,12 +72,12 @@ void TurnSignalsDisplay::updateHazardLightsData(
 void TurnSignalsDisplay::drawArrows(
   QPainter & painter, const QRectF & backgroundRect, const QColor & color)
 {
-  QImage scaledLeftArrow = arrowImage.scaled(64, 43, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  QImage scaledLeftArrow = arrowImage.scaled(50, 32, Qt::KeepAspectRatio, Qt::SmoothTransformation);
   scaledLeftArrow = coloredImage(scaledLeftArrow, gray);
   QImage scaledRightArrow = scaledLeftArrow.mirrored(true, false);
-  int arrowYPos = (backgroundRect.height() / 3 - scaledLeftArrow.height() / 2);
-  int leftArrowXPos = backgroundRect.width() / 4 - scaledLeftArrow.width();  // Adjust as needed
-  int rightArrowXPos = backgroundRect.width() * 3 / 4;                       // Adjust as needed
+  int arrowYPos = (backgroundRect.height() / 2 - scaledLeftArrow.height() / 2 - 4);
+  int leftArrowXPos = backgroundRect.left() + scaledLeftArrow.width() * 2 + 180;
+  int rightArrowXPos = backgroundRect.right() - scaledRightArrow.width() * 3 - 175;
 
   bool leftActive =
     (current_turn_signal_ == autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_LEFT ||