calibrationd
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@ -156,7 +156,7 @@ def calibrationd_thread(sm=None, pm=None):
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send_counter = 0
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while 1:
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sm.update()
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sm.update(wait_for="cameraOdometry")
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# if no inputs still publish calibration
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if not sm.updated['carState'] and not sm.updated['cameraOdometry']:
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@ -165,9 +165,6 @@ def calibrationd_thread(sm=None, pm=None):
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if sm.updated['carState']:
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calibrator.handle_v_ego(sm['carState'].vEgo)
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if send_counter % 25 == 0:
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calibrator.send_data(pm)
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send_counter += 1
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if sm.updated['cameraOdometry']:
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new_vp = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
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@ -175,6 +172,10 @@ def calibrationd_thread(sm=None, pm=None):
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sm['cameraOdometry'].transStd,
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sm['cameraOdometry'].rotStd)
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if send_counter % 5 == 0:
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calibrator.send_data(pm)
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send_counter += 1
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if DEBUG and new_vp is not None:
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print('got new vp', new_vp)
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