github-actions[bot]
3bd5475499
version: sunnypilot v2026.002.000 (staging) date: 2026-06-05T03:53:22 master commit: 46b9253729193e47a8be99154bae41c35359a373
85 lines
3.4 KiB
Python
85 lines
3.4 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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import numpy as np
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from openpilot.common.transformations.camera import DEVICE_CAMERAS
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from openpilot.common.transformations.model import get_warp_matrix
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from openpilot.sunnypilot.modeld_v2.camera_offset_helper import CameraOffsetHelper
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class MockStruct:
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def __init__(self, **kwargs):
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for k, v in kwargs.items():
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setattr(self, k, v)
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def __getitem__(self, item):
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return getattr(self, item)
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class TestCameraOffset:
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def setup_method(self):
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self.camera_offset = CameraOffsetHelper()
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self.dc = DEVICE_CAMERAS[('mici', 'os04c10')]
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def test_smoothing(self):
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self.camera_offset.set_offset(0.2)
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sm = MockStruct(
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deviceState=MockStruct(deviceType='mici'),
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roadCameraState=MockStruct(sensor='os04c10'),
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liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
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)
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intrinsics_main = self.dc.fcam.intrinsics
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intrinsics_extra = self.dc.ecam.intrinsics
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device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
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main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
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extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
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self.camera_offset.update(main_transform, extra_transform, sm, False)
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np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.02)
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self.camera_offset.update(main_transform, extra_transform, sm, False)
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np.testing.assert_almost_equal(self.camera_offset.actual_camera_offset, 0.038)
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def test_camera_offset_(self):
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intrinsics = self.dc.fcam.intrinsics
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transform = np.eye(3, dtype=np.float32)
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height = 1.22
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offset = 0.1
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cy = intrinsics[1, 2]
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expected_shear = np.eye(3, dtype=np.float32)
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expected_shear[0, 1] = offset / height
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expected_shear[0, 2] = -offset / height * cy
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result = CameraOffsetHelper.apply_camera_offset(transform, intrinsics, height, offset)
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np.testing.assert_array_almost_equal(result, expected_shear)
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def test_update(self):
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sm = MockStruct(
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deviceState=MockStruct(deviceType='mici'),
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roadCameraState=MockStruct(sensor='os04c10'),
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liveCalibration=MockStruct(rpyCalib=[0.0, 0.0, 0.0], height=[1.22])
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)
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intrinsics_main = self.dc.fcam.intrinsics
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intrinsics_extra = self.dc.ecam.intrinsics
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device_from_calib_euler = np.array([0.0, 0.0, 0.0], dtype=np.float32)
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main_transform = get_warp_matrix(device_from_calib_euler, intrinsics_main, False).astype(np.float32)
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extra_transform = get_warp_matrix(device_from_calib_euler, intrinsics_extra, True).astype(np.float32)
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self.camera_offset.set_offset(0.0) # test default offset doesn't change transformation
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main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
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np.testing.assert_array_equal(main_out, main_transform)
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np.testing.assert_array_equal(extra_out, extra_transform)
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self.camera_offset.set_offset(0.2) # test valid offset changes transformation
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main_out, extra_out = self.camera_offset.update(main_transform, extra_transform, sm, False)
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assert not np.array_equal(main_out, main_transform)
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assert not np.array_equal(extra_out, extra_transform)
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assert main_out[0, 1] != 0.0
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assert main_out[0, 2] != 0.0
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