ACCELEROMETER_BIAS=slice(30,33)# bias of mems accelerometer
# TODO the offset is likely a translation of the sensor, not a rotation of the camera
WIDE_FROM_DEVICE_EULER=slice(33,36)# wide camera offset angles in radians (tici only)
# We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
# We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
# From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
# Error-state has different slices because it is an ESKF
openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embdedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
## Setup your PC
@ -39,7 +39,7 @@ scons -u -j$(nproc)
### Windows
Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similiar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment.
print("%2d%4d%.3f%.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"%(len(msgs),evta.idx.encodeId,evt.logMonoTime/1e9,evta.idx.timestampEof/1e6,frame_latency,process_latency,network_latency,pc_latency,process_latency+network_latency+pc_latency),len(evta.data),sock_name)
if__name__=="__main__":
parser=argparse.ArgumentParser(description="Decode video streams and broacast on VisionIPC")
parser=argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC")
parser.add_argument("addr",help="Address of comma three")
parser.add_argument("--nvidia",action="store_true",help="Use nvidia instead of ffmpeg")
parser.add_argument("--cams",default="0,1,2",help="Cameras to decode")
Route is a class for conviently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
Adeeb Shihadeh
3 years ago
committed by
GitHub