camera offsets (#20022)

* camera offsets * runs on pc so is 0 in proc replay
4 years ago · bad68e4663
parent d6a4c84a73
commit bad68e4663
2 changed files with 10 additions and 2 deletions
--- 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



--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-3d94188da5fdb35c18664d32ac3c720b221a78c7
+c1740f64ad8a8e789023e062bc1ab125438e6a0a