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62 lines
2.3 KiB
62 lines
2.3 KiB
import numpy as np
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class Conversions:
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MPH_TO_KPH = 1.609344
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KPH_TO_MPH = 1. / MPH_TO_KPH
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MS_TO_KPH = 3.6
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KPH_TO_MS = 1. / MS_TO_KPH
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MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
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MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
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MS_TO_KNOTS = 1.9438
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KNOTS_TO_MS = 1. / MS_TO_KNOTS
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DEG_TO_RAD = np.pi/180.
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RAD_TO_DEG = 1. / DEG_TO_RAD
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# Car decode decimal minutes into decimal degrees, can work with numpy arrays as input
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@staticmethod
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def dm2d(dm):
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degs = np.round(dm/100.)
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mins = dm - degs*100.
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return degs + mins/60.
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# Car button codes
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# TODO: this is Honda specific, move to honda/interface.py
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class CruiseButtons:
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RES_ACCEL = 4
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DECEL_SET = 3
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CANCEL = 2
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MAIN = 1
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RADAR_TO_CENTER = 2.7 # RADAR is ~ 2.7m ahead from center of car
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# Image params for color cam on acura, calibrated on pre las vegas drive (2016-05-21)
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class ImageParams:
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def __init__(self):
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self.SX_R = 160 # top left corner pixel shift of the visual region considered by the model
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self.SY_R = 180 # top left corner pixel shift of the visual region considered by the model
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self.VPX_R = 319 # vanishing point reference, as calibrated in Vegas drive
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self.VPY_R = 201 # vanishing point reference, as calibrated in Vegas drive
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self.X = 320 # pixel length of image for model
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self.Y = 160 # pixel length of image for model
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self.SX = self.SX_R # current visual region with shift
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self.SY = self.SY_R # current visual region with shift
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self.VPX = self.VPX_R # current vanishing point with shift
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self.VPY = self.VPY_R # current vanishing point with shift
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def shift(self, shift):
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def to_int(fl):
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return int(round(fl))
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# shift comes from calibration and says how much to shift the viual region
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self.SX = self.SX_R + to_int(shift[0]) # current visual region with shift
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self.SY = self.SY_R + to_int(shift[1]) # current visual region with shift
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self.VPX = self.VPX_R + to_int(shift[0]) # current vanishing point with shift
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self.VPY = self.VPY_R + to_int(shift[1]) # current vanishing point with shift
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class UIParams:
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lidar_x, lidar_y, lidar_zoom = 384, 960, 6
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lidar_car_x, lidar_car_y = lidar_x/2., lidar_y/1.1
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car_hwidth = 1.7272/2 * lidar_zoom
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car_front = 2.6924 * lidar_zoom
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car_back = 1.8796 * lidar_zoom
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car_color = 110
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