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openpilot v0.6.3 release

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old-commit-hash: d5f9caa82d
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Vehicle Researcher
2019-08-13 01:36:45 +00:00
parent eb89041a6a
commit 02cedeadd9
95 changed files with 1754 additions and 625 deletions
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selfdrive/locationd/calibrationd.py
+4 -6
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@@ -8,7 +8,7 @@ from selfdrive.locationd.calibration_helpers import Calibration
from selfdrive.swaglog import cloudlog
from selfdrive.services import service_list
from common.params import Params
from common.transformations.model import model_height, get_camera_frame_from_model_frame, get_camera_frame_from_medmodel_frame
from common.transformations.model import model_height
from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
eon_intrinsics, get_calib_from_vp, H, W
@@ -78,21 +78,19 @@ class Calibrator(object):
"valid_points": len(self.vps)}
self.params.put("CalibrationParams", json.dumps(cal_params))
return new_vp
else:
return None
def send_data(self, livecalibration):
calib = get_calib_from_vp(self.vp)
extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
ke = eon_intrinsics.dot(extrinsic_matrix)
warp_matrix = get_camera_frame_from_model_frame(ke)
warp_matrix_big = get_camera_frame_from_medmodel_frame(ke)
cal_send = messaging.new_message()
cal_send.init('liveCalibration')
cal_send.liveCalibration.calStatus = self.cal_status
cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 // INPUTS_NEEDED, 100)
cal_send.liveCalibration.warpMatrix2 = [float(x) for x in warp_matrix.flatten()]
cal_send.liveCalibration.warpMatrixBig = [float(x) for x in warp_matrix_big.flatten()]
cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
cal_send.liveCalibration.rpyCalib = [float(x) for x in calib]
livecalibration.send(cal_send.to_bytes())