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ui: fix flipped experimental path acceleration #33026

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merged 4 commits into from
Jul 19, 2024
Merged

ui: fix flipped experimental path acceleration #33026

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9b4b0f8
fix
sshane Jul 19, 2024
5ca1ec4
clean up
sshane Jul 19, 2024
abe94de
better comment
sshane Jul 19, 2024
6ba1da7
Update selfdrive/ui/qt/onroad/annotated_camera.cc
sshane Jul 19, 2024
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5 changes: 3 additions & 2 deletions selfdrive/ui/qt/onroad/annotated_camera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -177,10 +177,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {

for (int i = 0; i < max_len; ++i) {
// Some points are out of frame
if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
int track_idx = (scene.track_vertices.length() / 2) - i; // flip idx to start from top
if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;

// Flip so 0 is bottom of frame
float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();

// speed up: 120, slow down: 0
float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
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