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openpilot v0.5.9 release

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old-commit-hash: 0207a97040
This commit is contained in:
Vehicle Researcher
2019-02-20 01:39:02 +00:00
parent 34c9a4743d
commit 2cc4edde68
55 changed files with 1842 additions and 798 deletions
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common/transformations/camera.py
+1 -9
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@@ -29,21 +29,13 @@ view_frame_from_device_frame = device_frame_from_view_frame.T
def get_calib_from_vp(vp):
vp_norm = normalize(vp)
yaw_calib = np.arctan(vp_norm[0])
pitch_calib = np.arctan(vp_norm[1]*np.cos(yaw_calib))
# TODO should be, this but written
# to be compatible with meshcalib and
# get_view_frame_from_road_fram
#pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
roll_calib = 0
return roll_calib, pitch_calib, yaw_calib
# aka 'extrinsic_matrix'
# road : x->forward, y -> left, z->up
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
# TODO
# calibration pitch is currently defined
# opposite to pitch in device frame
pitch = -pitch
device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
view_from_road = view_frame_from_device_frame.dot(device_from_road)
return np.hstack((view_from_road, [[0], [height], [0]]))