From a29fdbd02407d41ecbcc69d151bb4837bfba3cbc Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 19 Nov 2025 15:43:49 -0800
Subject: [PATCH] enhance dcam a bit for onboarding (#36655)

---
 selfdrive/ui/mici/onroad/cameraview.py | 28 +++++++++++++++++++++++---
 1 file changed, 25 insertions(+), 3 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index f962210afb..0f425b10da 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -47,6 +47,7 @@ if TICI:
     uniform samplerExternalOES texture0;
     out vec4 fragColor;
     uniform int engaged;
+    uniform int enhance_driver;
 
     void main() {
       vec4 color = texture(texture0, fragTexCoord);
@@ -57,8 +58,16 @@ if TICI:
         color.rgb = pow(color.rgb, vec3(1.0/1.28));
         fragColor = vec4(color.rgb, color.a);
       } else {
-        fragColor = vec4(color.rgb * 0.85, color.a);  // 85% opacity
+        color.rgb *= 0.85;  // 85% opacity
       }
+      if (enhance_driver == 1) {
+        float brightness = 1.1;
+        color.rgb = color.rgb + 0.15;
+        color.rgb = clamp((color.rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
+        color.rgb = color.rgb * color.rgb * (3.0 - 2.0 * color.rgb);
+        color.rgb = pow(color.rgb, vec3(0.8));
+      }
+      fragColor = vec4(color.rgb, color.a);
     }
     """
 else:
@@ -68,6 +77,7 @@ else:
     uniform sampler2D texture1;
     out vec4 fragColor;
     uniform int engaged;
+    uniform int enhance_driver;
 
     void main() {
       float y = texture(texture0, fragTexCoord).r;
@@ -77,10 +87,19 @@ else:
         float gray = dot(rgb, vec3(0.299, 0.587, 0.114));
         rgb = mix(vec3(gray), rgb, 0.2);  // 20% saturation
         rgb = clamp((rgb - 0.5) * 1.2 + 0.5, 0.0, 1.0);  // +20% contrast
-        fragColor = vec4(rgb, 1.0);
       } else {
-        fragColor = vec4(rgb * 0.85, 1.0);  // 85% opacity
+        rgb *= 0.85;  // 85% opacity
       }
+      // TODO: the images out of camerad need some more correction and
+      // the ui should apply a gamma curve for the device display
+      if (enhance_driver == 1) {
+        float brightness = 1.1;
+        rgb = rgb + 0.15;
+        rgb = clamp((rgb - 0.5) * (brightness * 0.8) + 0.5, 0.0, 1.0);
+        rgb = rgb * rgb * (3.0 - 2.0 * rgb);
+        rgb = pow(rgb, vec3(0.8));
+      }
+      fragColor = vec4(rgb, 1.0);
     }
     """
 
@@ -106,6 +125,8 @@ class CameraView(Widget):
     self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
     self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
     self._engaged_val = rl.ffi.new("int[1]", [1])
+    self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
+    self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
 
     self.frame: VisionBuf | None = None
     self.texture_y: rl.Texture | None = None
@@ -300,6 +321,7 @@ class CameraView(Widget):
   def _update_texture_color_filtering(self):
     self._engaged_val[0] = 1 if ui_state.status != UIStatus.DISENGAGED else 0
     rl.set_shader_value(self.shader, self._engaged_loc, self._engaged_val, rl.ShaderUniformDataType.SHADER_UNIFORM_INT)
+    rl.set_shader_value(self.shader, self._enhance_driver_loc, self._enhance_driver_val, rl.ShaderUniformDataType.SHADER_UNIFORM_INT)
 
   def _ensure_connection(self) -> bool:
     if not self.client.is_connected():