From bad68e466316a75f3c7b34c4e6f911f33e01b1c0 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 4 Feb 2021 15:50:53 -0800 Subject: [PATCH] camera offsets (#20022) * camera offsets * runs on pc so is 0 in proc replay --- selfdrive/controls/lib/lane_planner.py | 10 +++++++++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 06ef69ce5..bb3ba5f52 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -1,9 +1,17 @@ from common.numpy_fast import interp import numpy as np +from selfdrive.hardware import EON, TICI from cereal import log -CAMERA_OFFSET = 0.06 # m from center car to camera + TRAJECTORY_SIZE = 33 +# camera offset is meters from center car to camera +if EON: + CAMERA_OFFSET = 0.06 +elif TICI: + CAMERA_OFFSET = -0.04 +else: + CAMERA_OFFSET = 0.0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ea4d516ae..f3aa70966 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3d94188da5fdb35c18664d32ac3c720b221a78c7 \ No newline at end of file +c1740f64ad8a8e789023e062bc1ab125438e6a0a \ No newline at end of file