diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 5bf2ab5ff9..86e8676fb7 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -531,33 +531,67 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
                  [&](const QPointF &point) { return point.y() >= 0 && point.y() <= height(); });
     qDebug() << "valid_points len:" << valid_points.length() << "right_points len:" << right_points.length();
 
-    int final_idx = 0;
-    if (!valid_points.isEmpty()) {
-      for (int p = 0; p < MAX_PATH_POINTS; p++) {
-        int i = (p / (MAX_PATH_POINTS - 1)) * (valid_points.length() - 1);
-        final_idx = i;
-
-        qDebug() << "i:" << i << "len points:" << valid_points.length();
-        const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
-        if (i >= acceleration.size()) break;
-
-        // flip so 0 is bottom of frame
-        float lin_grad_point = (height() - valid_points[i].y()) / height();
-        qDebug() << "lin_grad_point:" << lin_grad_point;
-
-        // speed up: 120, slow down: 0
-        float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
-        // FIXME: painter.drawPolygon can be slow if hue is not rounded
-        path_hue = int(path_hue * 100 + 0.5) / 100;
-
-        float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
-        float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
-        float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
-        bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
-        if (i == valid_points.length() - 1) break;
-      }
-      assert(final_idx == (valid_points.length() - 1));
+    float prev_y_pos = -1;
+    int drawn = 0;
+    for (int i = 0; i < right_points.length(); i++) {
+      const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+      if (i >= acceleration.size()) {qDebug() << "breaking"; break; };
+
+//      if (right_points[i].y() - prev_y_pos < 0.1) continue;
+
+      // Some points are out of frame
+      if (right_points[i].y() < 0 || right_points[i].y() > height()) continue;
+
+      // flip so 0 is bottom of frame
+      float lin_grad_point = (height() - right_points[i].y()) / height();
+      qDebug() << "lin_grad_point:" << lin_grad_point;
+
+//      if (lin_grad_point - prev_y_pos < 0.01) continue;
+      prev_y_pos = lin_grad_point;
+
+      // speed up: 120, slow down: 0
+      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+      // FIXME: painter.drawPolygon can be slow if hue is not rounded
+      path_hue = int(path_hue * 100 + 0.5) / 100;
+
+      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+      float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
+      float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
+      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+      drawn += 1;
+      qDebug() << "i:" << i << "len points:" << valid_points.length();
+
+//      if (i == valid_points.length() - 1) break;
     }
+    qDebug() << "drawn:" << drawn;
+
+//    int final_idx = 0;
+//    if (!valid_points.isEmpty()) {
+//      for (int p = 0; p < MAX_PATH_POINTS; p++) {
+//        int i = (p / (MAX_PATH_POINTS - 1)) * (valid_points.length() - 1);
+//        final_idx = i;
+//
+//        qDebug() << "i:" << i << "len points:" << valid_points.length();
+//        const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+//        if (i >= acceleration.size()) break;
+//
+//        // flip so 0 is bottom of frame
+//        float lin_grad_point = (height() - valid_points[i].y()) / height();
+//        qDebug() << "lin_grad_point:" << lin_grad_point;
+//
+//        // speed up: 120, slow down: 0
+//        float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+//        // FIXME: painter.drawPolygon can be slow if hue is not rounded
+//        path_hue = int(path_hue * 100 + 0.5) / 100;
+//
+//        float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+//        float lightness = interp1d(saturation, 0.0, 1.0, 0.95, 0.62);  // lighter when grey
+//        float alpha = interp1d(lin_grad_point, 0.75 / 2., 0.75, 0.4, 0.0);  // matches previous alpha fade
+//        bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+//        if (i == valid_points.length() - 1) break;
+//      }
+//      assert(final_idx == (valid_points.length() - 1));
+//    }
 
   } else {
     bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));