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refactor camera transformations (#31818)

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* refactor camera transormations

* update users

* more stuff

* more fix

* swap

* tici

* lil shorter
old-commit-hash: e3589e4b5cc783001c95b52cce066647b4ae0c6c
This commit is contained in:
Adeeb Shihadeh
2024-03-10 16:56:50 -07:00
committed by GitHub
parent 4399424e89
commit da31ce154a
12 changed files with 114 additions and 135 deletions
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system/loggerd/tests/test_loggerd.py
+5 -4
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@@ -24,7 +24,7 @@ from openpilot.system.version import get_version
from openpilot.tools.lib.helpers import RE
from openpilot.tools.lib.logreader import LogReader
from cereal.visionipc import VisionIpcServer, VisionStreamType
from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
from openpilot.common.transformations.camera import DEVICE_CAMERAS
SentinelType = log.Sentinel.SentinelType
@@ -142,10 +142,11 @@ class TestLoggerd:
os.environ["LOGGERD_TEST"] = "1"
Params().put("RecordFront", "1")
d = DEVICE_CAMERAS[("tici", "ar0231")]
expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"}
streams = [(VisionStreamType.VISION_STREAM_ROAD, (*tici_f_frame_size, 2048*2346, 2048, 2048*1216), "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, (*tici_d_frame_size, 2048*2346, 2048, 2048*1216), "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, (*tici_e_frame_size, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"),
(VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"),
(VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")]
pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
vipc_server = VisionIpcServer("camerad")