Fix tici bigmodel (#23817)
* Fix bigmodel on tici: cam intrinsics arent static * Give TICI route own name for import * Make function useable in offline test * typo * change tici ecam focal to trained focal * No shadow variable * Fixed ref * Force update this time * Update model replay ref commitpull/23820/head
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768bea48d0
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48154703a7
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@ -40,9 +40,10 @@ const mat3 fcam_intrinsic_matrix =
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0.0, 2648.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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// without unwarp, focal length is for center portion only
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const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
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0.0, 620.0, 1208.0 / 2,
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// tici ecam focal probably wrong? magnification is not consistent across frame
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// Need to retrain model before this can be changed
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const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
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0.0, 567.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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static inline mat3 get_model_yuv_transform(bool bayer = true) {
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@ -33,7 +33,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
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-2.19780220e-03, 4.11497335e-19, 5.62637363e-01,
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-5.46146580e-20, 1.80147721e-03, -2.73464241e-01).finished();
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static const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
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const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
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static const mat3 yuv_transform = get_model_yuv_transform();
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auto ground_from_model_frame = bigmodel_frame ? ground_from_sbigmodel_frame : ground_from_medmodel_frame;
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@ -21,19 +21,21 @@ from selfdrive.version import get_commit
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from tools.lib.framereader import FrameReader
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from tools.lib.logreader import LogReader
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if TICI:
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TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
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else:
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TEST_ROUTE = "303055c0002aefd1|2021-11-22--18-36-32"
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TICI_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
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EON_TEST_ROUTE = "303055c0002aefd1|2021-11-22--18-36-32"
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SEGMENT = 0
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if TICI:
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TEST_ROUTE = TICI_TEST_ROUTE
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else:
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TEST_ROUTE = EON_TEST_ROUTE
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SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
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VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
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"wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
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def get_log_fn(ref_commit):
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return f"{TEST_ROUTE}_{'model_tici' if TICI else 'model'}_{ref_commit}.bz2"
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def get_log_fn(ref_commit, test_route, tici=True):
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return f"{test_route}_{'model_tici' if tici else 'model'}_{ref_commit}.bz2"
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def replace_calib(msg, calib):
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@ -159,7 +161,7 @@ if __name__ == "__main__":
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if not update:
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with open(ref_commit_fn) as f:
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ref_commit = f.read().strip()
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log_fn = get_log_fn(ref_commit)
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log_fn = get_log_fn(ref_commit, TEST_ROUTE, tici=TICI)
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try:
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cmp_log = LogReader(BASE_URL + log_fn)
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@ -191,7 +193,7 @@ if __name__ == "__main__":
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print("Uploading new refs")
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new_commit = get_commit()
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log_fn = get_log_fn(new_commit)
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log_fn = get_log_fn(new_commit, TEST_ROUTE, tici=TICI)
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save_log(log_fn, log_msgs)
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try:
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upload_file(log_fn, os.path.basename(log_fn))
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@ -1 +1 @@
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b48904b48036aa0c023759f214740f226b52b5b8
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19720e79b1c5136a882efd689651d9044e2e2007
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