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dragonpilot mod for 0.8.5-4

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This commit is contained in:
Rick Lan
2021-07-02 12:49:43 +08:00
parent 145b222f0d
commit 522fb06db7
224 changed files with 9120 additions and 7777 deletions
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common/transformations/camera.py
+9 -2
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@@ -5,12 +5,14 @@ from selfdrive.hardware import TICI
## -- hardcoded hardware params --
eon_f_focal_length = 910.0
eon_d_focal_length = 650.0
eon_d_focal_length = 860.0
leon_d_focal_length = 650.0
tici_f_focal_length = 2648.0
tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame
eon_f_frame_size = (1164, 874)
eon_d_frame_size = (816, 612)
eon_d_frame_size = (1152, 864)
leon_d_frame_size = (816, 612)
tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208)
# aka 'K' aka camera_frame_from_view_frame
@@ -20,6 +22,11 @@ eon_fcam_intrinsics = np.array([
[0.0, 0.0, 1.0]])
eon_intrinsics = eon_fcam_intrinsics # xx
leon_dcam_intrinsics = np.array([
[leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2],
[0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2],
[0.0, 0.0, 1.0]])
eon_dcam_intrinsics = np.array([
[eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2],
[0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2],