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69 lines
2.4 KiB
Python
69 lines
2.4 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
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"""
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import numpy as np
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from openpilot.common.transformations.camera import DEVICE_CAMERAS
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MAX_CAMERA_OFFSET_METERS = 0.35
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class _OffsetSmoother:
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def __init__(self, blend: float = 0.1):
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self._blend = blend
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self._value = 0.0
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def step(self, target: float) -> float:
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self._value = ((1.0 - self._blend) * self._value) + (self._blend * float(target))
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return self._value
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def _clamped_offset(raw_offset) -> float:
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try:
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parsed = float(raw_offset)
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except (TypeError, ValueError):
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parsed = 0.0
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return float(np.clip(parsed, -MAX_CAMERA_OFFSET_METERS, MAX_CAMERA_OFFSET_METERS))
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def _camera_profile(sm):
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return DEVICE_CAMERAS[(str(sm["deviceState"].deviceType), str(sm["roadCameraState"].sensor))]
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def _calibration_height(sm) -> float:
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return sm["liveCalibration"].height[0] if sm["liveCalibration"].height else 1.22
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def _sheared_transform(model_transform, intrinsics, height: float, lateral_offset: float):
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optical_center_y = intrinsics[1, 2]
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projection_bias = np.eye(3, dtype=np.float32)
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projection_bias[0, 1] = lateral_offset / height
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projection_bias[0, 2] = -(lateral_offset / height) * optical_center_y
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return (projection_bias @ model_transform).astype(np.float32)
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class CameraOffsetHelper:
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def __init__(self):
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self.camera_offset = 0.0
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self.actual_camera_offset = 0.0
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self._smoother = _OffsetSmoother()
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@staticmethod
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def apply_camera_offset(model_transform, intrinsics, height, offset_param):
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return _sheared_transform(model_transform, intrinsics, height, offset_param)
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def set_offset(self, offset):
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self.camera_offset = _clamped_offset(offset)
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def update(self, model_transform_main, model_transform_extra, sm, main_wide_camera, extra_uses_wide_camera=True):
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self.actual_camera_offset = self._smoother.step(self.camera_offset)
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camera_bundle = _camera_profile(sm)
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camera_height = _calibration_height(sm)
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main_intrinsics = camera_bundle.ecam.intrinsics if main_wide_camera else camera_bundle.fcam.intrinsics
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extra_intrinsics = camera_bundle.ecam.intrinsics if extra_uses_wide_camera else camera_bundle.fcam.intrinsics
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return (
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self.apply_camera_offset(model_transform_main, main_intrinsics, camera_height, self.actual_camera_offset),
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self.apply_camera_offset(model_transform_extra, extra_intrinsics, camera_height, self.actual_camera_offset),
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)
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