You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
2.6 KiB
74 lines
2.6 KiB
import numpy as np
|
|
|
|
class Conversions:
|
|
MPH_TO_MS = 1.609/3.6
|
|
MS_TO_MPH = 3.6/1.609
|
|
KPH_TO_MS = 1./3.6
|
|
MS_TO_KPH = 3.6
|
|
MPH_TO_KPH = 1.609
|
|
KPH_TO_MPH = 1./1.609
|
|
KNOTS_TO_MS = 1/1.9438
|
|
MS_TO_KNOTS = 1.9438
|
|
|
|
# Car tecode decimal minutes into decimal degrees, can work with numpy arrays as input
|
|
@staticmethod
|
|
def dm2d(dm):
|
|
degs = np.round(dm/100.)
|
|
mins = dm - degs*100.
|
|
return degs + mins/60.
|
|
|
|
|
|
# Car button codes
|
|
class CruiseButtons:
|
|
RES_ACCEL = 4
|
|
DECEL_SET = 3
|
|
CANCEL = 2
|
|
MAIN = 1
|
|
|
|
|
|
# Image params for color cam on acura, calibrated on pre las vegas drive (2016-05-21)
|
|
class ImageParams:
|
|
def __init__(self):
|
|
self.SX_R = 160 # top left corner pixel shift of the visual region considered by the model
|
|
self.SY_R = 180 # top left corner pixel shift of the visual region considered by the model
|
|
self.VPX_R = 319 # vanishing point reference, as calibrated in Vegas drive
|
|
self.VPY_R = 201 # vanishing point reference, as calibrated in Vegas drive
|
|
self.X = 320 # pixel length of image for model
|
|
self.Y = 160 # pixel length of image for model
|
|
self.SX = self.SX_R # current visual region with shift
|
|
self.SY = self.SY_R # current visual region with shift
|
|
self.VPX = self.VPX_R # current vanishing point with shift
|
|
self.VPY = self.VPY_R # current vanishing point with shift
|
|
def shift(self, shift):
|
|
def to_int(fl):
|
|
return int(round(fl))
|
|
# shift comes from calibration and says how much to shift the viual region
|
|
self.SX = self.SX_R + to_int(shift[0]) # current visual region with shift
|
|
self.SY = self.SY_R + to_int(shift[1]) # current visual region with shift
|
|
self.VPX = self.VPX_R + to_int(shift[0]) # current vanishing point with shift
|
|
self.VPY = self.VPY_R + to_int(shift[1]) # current vanishing point with shift
|
|
|
|
class UIParams:
|
|
lidar_x, lidar_y, lidar_zoom = 384, 960, 8
|
|
lidar_car_x, lidar_car_y = lidar_x/2., lidar_y/1.1
|
|
car_hwidth = 1.7272/2 * lidar_zoom
|
|
car_front = 2.6924 * lidar_zoom
|
|
car_back = 1.8796 * lidar_zoom
|
|
car_color = 110
|
|
|
|
class VehicleParams:
|
|
def __init__(self, civic, brake_only=False, torque_mod=False):
|
|
if civic:
|
|
self.wheelbase = 2.67
|
|
self.steer_ratio = 15.3
|
|
self.slip_factor = 0.0014
|
|
self.civic = True
|
|
else:
|
|
self.wheelbase = 2.67 # from http://www.edmunds.com/acura/ilx/2016/sedan/features-specs/
|
|
self.steer_ratio = 15.3 # from http://www.edmunds.com/acura/ilx/2016/road-test-specs/
|
|
self.slip_factor = 0.0014
|
|
self.civic = False
|
|
self.brake_only = brake_only
|
|
self.torque_mod = torque_mod
|
|
self.ui_speed_fudge = 1.01 if self.civic else 1.025
|
|
|
|
|