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ui: fix flipped experimental path acceleration (#33026)

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* fix

* clean up

* better comment

* Update selfdrive/ui/qt/onroad/annotated_camera.cc
old-commit-hash: 0907b30d7b
This commit is contained in:
Shane Smiskol
2024-07-19 15:39:44 -07:00
committed by GitHub
parent 91db4a0908
commit 6c4afa3ef2
1 changed files with 3 additions and 2 deletions
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selfdrive/ui/qt/onroad/annotated_camera.cc
+3 -2
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@@ -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);