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Loosen ecamera calib checks (#20629) 

* relax thresholds for widecamera

* cleaner
albatross
HaraldSchafer 2021-04-09 22:38:09 -05:00 committed by GitHub
parent 32d317239a
commit c92f171866
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 3 deletions
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10
selfdrive/locationd/calibrationd.py
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@ -13,6 +13,7 @@ import json
import numpy as np
import cereal.messaging as messaging
from cereal import car, log
from selfdrive.hardware import TICI
from common.params import Params, put_nonblocking
from common.transformations.model import model_height
from common.transformations.camera import get_view_frame_from_road_frame
@ -63,7 +64,7 @@ class Calibrator():
# Read saved calibration
params = Params()
calibration_params = params.get("CalibrationParams")
self.wide_camera = TICI and params.get_bool('EnableWideCamera')
rpy_init = RPY_INIT
valid_blocks = 0
@ -149,9 +150,12 @@ class Calibrator():
self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < MAX_VEL_ANGLE_STD) or
if self.wide_camera:
angle_std_threshold = 4*MAX_VEL_ANGLE_STD
else:
angle_std_threshold = MAX_VEL_ANGLE_STD
certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or
(self.valid_blocks < INPUTS_NEEDED))
if not (straight_and_fast and certain_if_calib):
return None