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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 numpy as np
import cereal.messaging as messaging import cereal.messaging as messaging
from cereal import car, log from cereal import car, log
from selfdrive.hardware import TICI
from common.params import Params, put_nonblocking from common.params import Params, put_nonblocking
from common.transformations.model import model_height from common.transformations.model import model_height
from common.transformations.camera import get_view_frame_from_road_frame from common.transformations.camera import get_view_frame_from_road_frame
@ -63,7 +64,7 @@ class Calibrator():
# Read saved calibration # Read saved calibration
params = Params() params = Params()
calibration_params = params.get("CalibrationParams") calibration_params = params.get("CalibrationParams")
self.wide_camera = TICI and params.get_bool('EnableWideCamera')
rpy_init = RPY_INIT rpy_init = RPY_INIT
valid_blocks = 0 valid_blocks = 0
@ -149,9 +150,12 @@ class Calibrator():
self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) 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)) 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)) (self.valid_blocks < INPUTS_NEEDED))
if not (straight_and_fast and certain_if_calib): if not (straight_and_fast and certain_if_calib):
return None return None