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217 lines
7.6 KiB
217 lines
7.6 KiB
#!/usr/bin/env python3
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'''
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This process finds calibration values. More info on what these calibration values
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are can be found here https://github.com/commaai/openpilot/tree/master/common/transformations
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While the roll calibration is a real value that can be estimated, here we assume it's zero,
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and the image input into the neural network is not corrected for roll.
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'''
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import os
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import copy
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import numpy as np
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import cereal.messaging as messaging
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from cereal import log
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from selfdrive.hardware import TICI
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from common.params import Params, put_nonblocking
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from common.transformations.model import model_height
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from common.transformations.camera import get_view_frame_from_road_frame
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from common.transformations.orientation import rot_from_euler, euler_from_rot
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from selfdrive.config import Conversions as CV
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from selfdrive.swaglog import cloudlog
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MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
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MAX_VEL_ANGLE_STD = np.radians(0.25)
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MAX_YAW_RATE_FILTER = np.radians(2) # per second
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# This is at model frequency, blocks needed for efficiency
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SMOOTH_CYCLES = 400
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BLOCK_SIZE = 100
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INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration
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INPUTS_WANTED = 50 # We want a little bit more than we need for stability
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MAX_ALLOWED_SPREAD = np.radians(2)
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RPY_INIT = np.array([0.0,0.0,0.0])
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# These values are needed to accommodate biggest modelframe
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PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
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YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
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DEBUG = os.getenv("DEBUG") is not None
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class Calibration:
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UNCALIBRATED = 0
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CALIBRATED = 1
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INVALID = 2
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def is_calibration_valid(rpy):
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return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
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def sanity_clip(rpy):
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if np.isnan(rpy).any():
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rpy = RPY_INIT
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return np.array([rpy[0],
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np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005),
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np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)])
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class Calibrator():
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def __init__(self, param_put=False):
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self.param_put = param_put
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# Read saved calibration
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params = Params()
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calibration_params = params.get("CalibrationParams")
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self.wide_camera = TICI and params.get_bool('EnableWideCamera')
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rpy_init = RPY_INIT
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valid_blocks = 0
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if param_put and calibration_params:
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try:
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msg = log.Event.from_bytes(calibration_params)
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rpy_init = list(msg.liveCalibration.rpyCalib)
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valid_blocks = msg.liveCalibration.validBlocks
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except Exception:
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cloudlog.exception("Error reading cached CalibrationParams")
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self.reset(rpy_init, valid_blocks)
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self.update_status()
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def reset(self, rpy_init=RPY_INIT, valid_blocks=0, smooth_from=None):
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if not np.isfinite(rpy_init).all():
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self.rpy = copy.copy(RPY_INIT)
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else:
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self.rpy = rpy_init
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if not np.isfinite(valid_blocks) or valid_blocks < 0:
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self.valid_blocks = 0
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else:
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self.valid_blocks = valid_blocks
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self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
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self.idx = 0
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self.block_idx = 0
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self.v_ego = 0
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if smooth_from is None:
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self.old_rpy = RPY_INIT
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self.old_rpy_weight = 0.0
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else:
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self.old_rpy = smooth_from
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self.old_rpy_weight = 1.0
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def update_status(self):
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if self.valid_blocks > 0:
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max_rpy_calib = np.array(np.max(self.rpys[:self.valid_blocks], axis=0))
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min_rpy_calib = np.array(np.min(self.rpys[:self.valid_blocks], axis=0))
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self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
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else:
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self.calib_spread = np.zeros(3)
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if self.valid_blocks < INPUTS_NEEDED:
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self.cal_status = Calibration.UNCALIBRATED
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elif is_calibration_valid(self.rpy):
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self.cal_status = Calibration.CALIBRATED
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else:
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self.cal_status = Calibration.INVALID
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# If spread is too high, assume mounting was changed and reset to last block.
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# Make the transition smooth. Abrupt transitions are not good foor feedback loop through supercombo model.
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if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
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self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
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write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
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if self.param_put and write_this_cycle:
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put_nonblocking("CalibrationParams", self.get_msg().to_bytes())
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def handle_v_ego(self, v_ego):
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self.v_ego = v_ego
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def get_smooth_rpy(self):
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if self.old_rpy_weight > 0:
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return self.old_rpy_weight * self.old_rpy + (1.0 - self.old_rpy_weight) * self.rpy
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else:
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return self.rpy
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def handle_cam_odom(self, trans, rot, trans_std, rot_std):
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self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
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straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
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if self.wide_camera:
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angle_std_threshold = 4*MAX_VEL_ANGLE_STD
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else:
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angle_std_threshold = MAX_VEL_ANGLE_STD
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certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or
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(self.valid_blocks < INPUTS_NEEDED))
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if not (straight_and_fast and certain_if_calib):
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return None
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observed_rpy = np.array([0,
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-np.arctan2(trans[2], trans[0]),
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np.arctan2(trans[1], trans[0])])
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new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy)))
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new_rpy = sanity_clip(new_rpy)
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self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
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self.idx = (self.idx + 1) % BLOCK_SIZE
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if self.idx == 0:
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self.block_idx += 1
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self.valid_blocks = max(self.block_idx, self.valid_blocks)
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self.block_idx = self.block_idx % INPUTS_WANTED
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if self.valid_blocks > 0:
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self.rpy = np.mean(self.rpys[:self.valid_blocks], axis=0)
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self.update_status()
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return new_rpy
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def get_msg(self):
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smooth_rpy = self.get_smooth_rpy()
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extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
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msg = messaging.new_message('liveCalibration')
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msg.liveCalibration.validBlocks = self.valid_blocks
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msg.liveCalibration.calStatus = self.cal_status
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msg.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
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msg.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
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msg.liveCalibration.rpyCalib = [float(x) for x in smooth_rpy]
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msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread]
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return msg
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def send_data(self, pm):
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pm.send('liveCalibration', self.get_msg())
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def calibrationd_thread(sm=None, pm=None):
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if sm is None:
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sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
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if pm is None:
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pm = messaging.PubMaster(['liveCalibration'])
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calibrator = Calibrator(param_put=True)
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while 1:
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timeout = 0 if sm.frame == -1 else 100
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sm.update(timeout)
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if sm.updated['cameraOdometry']:
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calibrator.handle_v_ego(sm['carState'].vEgo)
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new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
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sm['cameraOdometry'].rot,
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sm['cameraOdometry'].transStd,
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sm['cameraOdometry'].rotStd)
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if DEBUG and new_rpy is not None:
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print('got new rpy', new_rpy)
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# 4Hz driven by cameraOdometry
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if sm.frame % 5 == 0:
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calibrator.send_data(pm)
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def main(sm=None, pm=None):
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calibrationd_thread(sm, pm)
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if __name__ == "__main__":
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main()
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