    }
  }
  
  
  AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
    pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
  
    engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
    dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
  }
 
</s> remove     bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
    bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
 </s> add     bg.setColorAt(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35));
    bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0)); </s> remove     if (acceleration.getZ().size() > 16) {
      acceleration_future = acceleration.getX()[16];  // 2.5 seconds
 </s> add     if (acceleration.getZ().size() > 10) {
      acceleration_future = acceleration.getX()[10];  // 1.0 second </s> remove     start_hue = 60;
    // speed up: 120, slow down: 0
    end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0);
 </s> add     // speed up: 148, slow down: 0
    start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0); </s> remove     end_hue = int(end_hue * 100 + 0.5) / 100;
 </s> add     start_hue = int(start_hue * 100 + 0.5) / 100;
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
    }
  }
  
  
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
    pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
  
    engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
    dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
  }
keep keep keep keep replace keep keep keep keep keep
 ui: minor e2e path tweaks (#26351)

* new e2e path

* clean up

* fix

* 2.5 seconds feels disjointed 
selfdrive/ui/qt/onroad.cc