openpilot v0.5.7 release

selfdrive/locationd/calibrationd.py

@@ -6,13 +6,13 @@ import copy
 import json
 import numpy as np
 import selfdrive.messaging as messaging
-from selfdrive.locationd.calibration_values import Calibration, Filter
+from selfdrive.locationd.calibration_helpers import Calibration, Filter
 from selfdrive.swaglog import cloudlog
 from selfdrive.services import service_list
 from common.params import Params
 from common.ffi_wrapper import ffi_wrap
 import common.transformations.orientation as orient
-from common.transformations.model import model_height, get_camera_frame_from_model_frame
+from common.transformations.model import model_height, get_camera_frame_from_model_frame, get_camera_frame_from_bigmodel_frame
 from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
                                           eon_intrinsics, get_calib_from_vp, normalize, denormalize, H, W
 
@@ -208,13 +208,15 @@ class Calibrator(object):
     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, model_height)
+    warp_matrix = get_camera_frame_from_model_frame(ke)
+    warp_matrix_big = get_camera_frame_from_bigmodel_frame(ke)
 
     cal_send = messaging.new_message()
     cal_send.init('liveCalibration')
     cal_send.liveCalibration.calStatus = self.cal_status
     cal_send.liveCalibration.calPerc = min(self.frame_counter * 100 / CALIBRATION_CYCLES_NEEDED, 100)
     cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
+    cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten())
     cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
 
     livecalibration.send(cal_send.to_bytes())