From a5fff75b5e6b8837ae3da53638d5bd6b31f2a1ae Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 9 Apr 2021 22:38:09 -0500 Subject: [PATCH] Loosen ecamera calib checks (#20629) * relax thresholds for widecamera * cleaner old-commit-hash: c92f171866dfe4f6c6cf8cdb900073f32c81b160 --- selfdrive/locationd/calibrationd.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index b3254185ba..e8e4f32df0 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -13,6 +13,7 @@ import json import numpy as np import cereal.messaging as messaging from cereal import car, log +from selfdrive.hardware import TICI from common.params import Params, put_nonblocking from common.transformations.model import model_height from common.transformations.camera import get_view_frame_from_road_frame @@ -63,7 +64,7 @@ class Calibrator(): # Read saved calibration params = Params() calibration_params = params.get("CalibrationParams") - + self.wide_camera = TICI and params.get_bool('EnableWideCamera') rpy_init = RPY_INIT valid_blocks = 0 @@ -149,9 +150,12 @@ class Calibrator(): self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) - certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < MAX_VEL_ANGLE_STD) or + if self.wide_camera: + angle_std_threshold = 4*MAX_VEL_ANGLE_STD + else: + angle_std_threshold = MAX_VEL_ANGLE_STD + certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or (self.valid_blocks < INPUTS_NEEDED)) - if not (straight_and_fast and certain_if_calib): return None