dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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import numpy as np
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class Conversions:
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#Speed
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MPH_TO_KPH = 1.609344
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KPH_TO_MPH = 1. / MPH_TO_KPH
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MS_TO_KPH = 3.6
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KPH_TO_MS = 1. / MS_TO_KPH
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MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
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MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
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MS_TO_KNOTS = 1.9438
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KNOTS_TO_MS = 1. / MS_TO_KNOTS
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#Angle
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DEG_TO_RAD = np.pi / 180.
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RAD_TO_DEG = 1. / DEG_TO_RAD
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#Mass
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LB_TO_KG = 0.453592
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RADAR_TO_CENTER = 2.7 # (deprecated) RADAR is ~ 2.7m ahead from center of car
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RADAR_TO_CAMERA = 1.52 # RADAR is ~ 1.5m ahead from center of mesh frame
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class UIParams:
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lidar_x, lidar_y, lidar_zoom = 384, 960, 6
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lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
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car_hwidth = 1.7272 / 2 * lidar_zoom
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car_front = 2.6924 * lidar_zoom
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car_back = 1.8796 * lidar_zoom
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car_color = 110
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