From 6c4afa3ef231a49dd5ed0385de5045f438fc78d0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 19 Jul 2024 15:39:44 -0700 Subject: [PATCH] ui: fix flipped experimental path acceleration (#33026) * fix * clean up * better comment * Update selfdrive/ui/qt/onroad/annotated_camera.cc old-commit-hash: 0907b30d7b87957ae14cad7954358c1d78d9a528 --- selfdrive/ui/qt/onroad/annotated_camera.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 60f2380dc5..484075b3e2 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -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);