traffic light color overhaul

Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>

Author: M. Fatih Cırıt

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png

@@ -45,14 +45,11 @@ class TrafficDisplay
 
 private:
   QImage traffic_light_image_;
-  // yellow #CFC353
-  QColor yellow = QColor(207, 195, 83);
-  // red #CF5353
-  QColor red = QColor(207, 83, 83);
-  // green #53CF5F
-  QColor green = QColor(83, 207, 95);
-  // gray #C2C2C2
-  QColor gray = QColor(194, 194, 194);
+
+  const QColor tl_red_;
+  const QColor tl_yellow_;
+  const QColor tl_green_;
+  const QColor tl_gray_;
 
   QImage coloredImage(const QImage & source, const QColor & color);
 };

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp

@@ -343,7 +343,7 @@ void SignalDisplay::drawWidget(QImage & hud)
 
   // a 27px space between the two halves of the HUD
 
-  QRectF smallerBackgroundRect(340, 0, 190 / 2, hud.height());
+  QRectF smallerBackgroundRect(340, 0, 190.0 / 2, hud.height());
 
   drawVerticalRoundedRectangle(painter, smallerBackgroundRect);
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp

@@ -35,6 +35,10 @@ namespace autoware_overlay_rviz_plugin
 {
 
 TrafficDisplay::TrafficDisplay()
+: tl_red_(QString("#cc3d3d")),
+  tl_yellow_(QString("#ccb43d")),
+  tl_green_(QString("#3dcc55")),
+  tl_gray_(QString("#4f4f4f"))
 {
   // Load the traffic light image
   std::string package_path =
@@ -55,9 +59,8 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
   painter.setRenderHint(QPainter::Antialiasing, true);
   painter.setRenderHint(QPainter::SmoothPixmapTransform, true);
 
-  // #C2C2C2
-  painter.setPen(QPen(gray, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
-  painter.setBrush(QBrush(gray, Qt::SolidPattern));
+  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);
@@ -67,33 +70,33 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
     backgroundRect.top() + circleRect.height() + 30));
   painter.drawEllipse(circleRect);
 
-  if (current_traffic_.signals.size() > 0) {
+  if (!current_traffic_.signals.empty()) {
     switch (current_traffic_.signals[0].elements[0].color) {
       case 1:
-        painter.setBrush(QBrush(red));
+        painter.setBrush(QBrush(tl_red_));
         painter.drawEllipse(circleRect);
         break;
       case 2:
-        painter.setBrush(QBrush(yellow));
+        painter.setBrush(QBrush(tl_yellow_));
         painter.drawEllipse(circleRect);
         break;
       case 3:
-        painter.setBrush(QBrush(green));
+        painter.setBrush(QBrush(tl_green_));
         painter.drawEllipse(circleRect);
         break;
       case 4:
-        painter.setBrush(QBrush(gray));
+        painter.setBrush(tl_gray_);
         painter.drawEllipse(circleRect);
         break;
       default:
-        painter.setBrush(QBrush(gray));
+        painter.setBrush(tl_gray_);
         painter.drawEllipse(circleRect);
         break;
     }
   }
 
   // Scaling factor (e.g., 1.5 for 150% size)
-  float scaleFactor = 1.25;
+  float scaleFactor = 1.00;
 
   // Calculate the scaled size
   QSize scaledSize = traffic_light_image_.size() * scaleFactor;