retropilot/openpilot
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remove vp everywhere (#2122)

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* remove vp everywhere

* wrong dimension

* useful disclaimer

* switcheroo

* imcomplete switcheroo

* did it wrong again

* difference look small enough

* fix comment
This commit is contained in:
HaraldSchafer 2020-09-04 03:05:20 -07:00 committed by GitHub
parent 1e6c7c94e4
commit 01111b3f28
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2 changed files with 45 additions and 47 deletions
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90
selfdrive/locationd/calibrationd.py
View file

@ -1,4 +1,10 @@
#!/usr/bin/env python3
'''
This process finds calibration values. More info on what these calibration values
are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
While the roll calibration is a real value that can be estimated, here we assume it zero,
and the image input into the neural network is not corrected for roll.
'''
import os
import copy
@ -10,8 +16,8 @@ from selfdrive.locationd.calibration_helpers import Calibration
from selfdrive.swaglog import cloudlog
from common.params import Params, put_nonblocking
from common.transformations.model import model_height
from common.transformations.camera import view_frame_from_device_frame, get_view_frame_from_road_frame, \
get_calib_from_vp, vp_from_rpy, H, W, FOCAL
from common.transformations.camera import get_view_frame_from_road_frame
from common.transformations.orientation import rot_from_euler, euler_from_rot
MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
MAX_VEL_ANGLE_STD = np.radians(0.25)
@ -19,40 +25,34 @@ MAX_YAW_RATE_FILTER = np.radians(2) # per second
# This is all 20Hz, blocks needed for efficiency
BLOCK_SIZE = 100
INPUTS_NEEDED = 5 # allow to update VP every so many frames
INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration
INPUTS_WANTED = 50 # We want a little bit more than we need for stability
WRITE_CYCLES = 10 # write every 1000 cycles
VP_INIT = np.array([W/2., H/2.])
RPY_INIT = np.array([0,0,0])
# These values are needed to accomodate biggest modelframe
VP_VALIDITY_CORNERS = np.array([[W//2 - 63, 300], [W//2 + 63, 520]])
PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
DEBUG = os.getenv("DEBUG") is not None
def is_calibration_valid(vp):
return vp[0] > VP_VALIDITY_CORNERS[0, 0] and vp[0] < VP_VALIDITY_CORNERS[1, 0] and \
vp[1] > VP_VALIDITY_CORNERS[0, 1] and vp[1] < VP_VALIDITY_CORNERS[1, 1]
def is_calibration_valid(rpy):
return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
def sanity_clip(vp):
if np.isnan(vp).any():
vp = VP_INIT
return np.array([np.clip(vp[0], VP_VALIDITY_CORNERS[0, 0] - 5, VP_VALIDITY_CORNERS[1, 0] + 5),
np.clip(vp[1], VP_VALIDITY_CORNERS[0, 1] - 5, VP_VALIDITY_CORNERS[1, 1] + 5)])
def sanity_clip(rpy):
if np.isnan(rpy).any():
rpy = RPY_INIT
return np.array([rpy[0],
np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005),
np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)])
def intrinsics_from_vp(vp):
return np.array([
[FOCAL, 0., vp[0]],
[ 0., FOCAL, vp[1]],
[ 0., 0., 1.]])
class Calibrator():
def __init__(self, param_put=False):
self.param_put = param_put
self.vp = copy.copy(VP_INIT)
self.vps = np.zeros((INPUTS_WANTED, 2))
self.rpy = copy.copy(RPY_INIT)
self.rpys = np.zeros((INPUTS_WANTED, 3))
self.idx = 0
self.block_idx = 0
self.valid_blocks = 0
@ -68,10 +68,10 @@ class Calibrator():
if calibration_params:
try:
calibration_params = json.loads(calibration_params)
self.vp = vp_from_rpy(calibration_params["calib_radians"])
if not np.isfinite(self.vp).all():
self.vp = copy.copy(VP_INIT)
self.vps = np.tile(self.vp, (INPUTS_WANTED, 1))
self.rpy = calibration_params["calib_radians"]
if not np.isfinite(self.rpy).all():
self.rpy = copy.copy(RPY_INIT)
self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
self.valid_blocks = calibration_params['valid_blocks']
if not np.isfinite(self.valid_blocks) or self.valid_blocks < 0:
self.valid_blocks = 0
@ -84,7 +84,7 @@ class Calibrator():
if self.valid_blocks < INPUTS_NEEDED:
self.cal_status = Calibration.UNCALIBRATED
else:
self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.vp) else Calibration.INVALID
self.cal_status = Calibration.CALIBRATED if is_calibration_valid(self.rpy) else Calibration.INVALID
end_status = self.cal_status
self.just_calibrated = False
@ -99,47 +99,45 @@ class Calibrator():
certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < MAX_VEL_ANGLE_STD) or
(self.valid_blocks < INPUTS_NEEDED))
if straight_and_fast and certain_if_calib:
# intrinsics are not eon intrinsics, since this is calibrated frame
intrinsics = intrinsics_from_vp(self.vp)
new_vp = intrinsics.dot(view_frame_from_device_frame.dot(trans))
new_vp = new_vp[:2]/new_vp[2]
new_vp = sanity_clip(new_vp)
observed_rpy = np.array([0,
-np.arctan2(trans[2], trans[0]),
np.arctan2(trans[1], trans[0])])
new_rpy = euler_from_rot(rot_from_euler(self.rpy).dot(rot_from_euler(observed_rpy)))
new_rpy = sanity_clip(new_rpy)
self.vps[self.block_idx] = (self.idx*self.vps[self.block_idx] + (BLOCK_SIZE - self.idx) * new_vp) / float(BLOCK_SIZE)
self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
self.idx = (self.idx + 1) % BLOCK_SIZE
if self.idx == 0:
self.block_idx += 1
self.valid_blocks = max(self.block_idx, self.valid_blocks)
self.block_idx = self.block_idx % INPUTS_WANTED
if self.valid_blocks > 0:
self.vp = np.mean(self.vps[:self.valid_blocks], axis=0)
self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0)
self.update_status()
if self.param_put and ((self.idx == 0 and self.block_idx == 0) or self.just_calibrated):
calib = get_calib_from_vp(self.vp)
cal_params = {"calib_radians": list(calib),
cal_params = {"calib_radians": list(self.rpy),
"valid_blocks": self.valid_blocks}
put_nonblocking("CalibrationParams", json.dumps(cal_params).encode('utf8'))
return new_vp
return new_rpy
else:
return None
def send_data(self, pm):
calib = get_calib_from_vp(self.vp)
if self.valid_blocks > 0:
max_vp_calib = np.array(get_calib_from_vp(np.max(self.vps[:self.valid_blocks], axis=0)))
min_vp_calib = np.array(get_calib_from_vp(np.min(self.vps[:self.valid_blocks], axis=0)))
calib_spread = np.abs(max_vp_calib - min_vp_calib)
max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0))
min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0))
calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
else:
calib_spread = np.zeros(3)
extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
extrinsic_matrix = get_view_frame_from_road_frame(0, self.rpy[1], self.rpy[2], model_height)
cal_send = messaging.new_message('liveCalibration')
cal_send.liveCalibration.validBlocks = self.valid_blocks
cal_send.liveCalibration.calStatus = self.cal_status
cal_send.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
cal_send.liveCalibration.rpyCalib = [float(x) for x in calib]
cal_send.liveCalibration.rpyCalib = [float(x) for x in self.rpy]
cal_send.liveCalibration.rpyCalibSpread = [float(x) for x in calib_spread]
pm.send('liveCalibration', cal_send)
@ -170,13 +168,13 @@ def calibrationd_thread(sm=None, pm=None):
send_counter += 1
if sm.updated['cameraOdometry']:
new_vp = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
sm['cameraOdometry'].rot,
sm['cameraOdometry'].transStd,
sm['cameraOdometry'].rotStd)
if DEBUG and new_vp is not None:
print('got new vp', new_vp)
if DEBUG and new_rpy is not None:
print('got new rpy', new_rpy)
def main(sm=None, pm=None):

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
eac7f0ebb37c2a8a0cf70d3d25d32ecd160d6cac
24d46601f18d23f18e5152ce649fd0e37e2159a9