From 401553814f2b3715a910a9e9fa085dbd7101c736 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 3 Jan 2022 18:58:01 -0700 Subject: [PATCH] Revert "calculate correct path offset for TICI (#544)" This reverts commit ddd4ab4fd7383ec43117cbdefe40c04877bf6f55. --- selfdrive/controls/lib/lane_planner.py | 28 +++++++++++++++++--------- 1 file changed, 19 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index b08db324945d3a..c855f14198a5ec 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -10,14 +10,22 @@ TRAJECTORY_SIZE = 33 -# model path is 0.06 m left of car center -MODEL_PATH_OFFSET = 0.06 +# camera offset is meters from center car to camera if EON: - CAMERA_OFFSET = 0.06 + STANDARD_CAMERA_OFFSET = 0.06 # do NOT change this. edit with opEdit + STANDARD_PATH_OFFSET = 0.0 # do NOT change this. edit with opEdit + # CAMERA_OFFSET = 0.06 + # PATH_OFFSET = 0.0 elif TICI: - CAMERA_OFFSET = -0.04 + STANDARD_CAMERA_OFFSET = -0.04 # do NOT change this. edit with opEdit + STANDARD_PATH_OFFSET = -0.04 # do NOT change this. edit with opEdit + # CAMERA_OFFSET = -0.04 + # PATH_OFFSET = -0.04 else: - CAMERA_OFFSET = 0.0 + STANDARD_CAMERA_OFFSET = 0.0 # do NOT change this. edit with opEdit + STANDARD_PATH_OFFSET = 0.0 # do NOT change this. edit with opEdit + # CAMERA_OFFSET = 0.0 + # PATH_OFFSET = 0.0 class LanePlanner: @@ -42,13 +50,15 @@ def __init__(self, wide_camera=False): self.l_lane_change_prob = 0. self.r_lane_change_prob = 0. - self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET - self.path_offset = self.camera_offset - MODEL_PATH_OFFSET + # self.camera_offset = -STANDARD_CAMERA_OFFSET if wide_camera else STANDARD_CAMERA_OFFSET + if TICI: + self.path_offset = -STANDARD_PATH_OFFSET if wide_camera else STANDARD_PATH_OFFSET def parse_model(self, md): if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE: - self.camera_offset = clip(self.op_params.get('camera_offset'), -0.5, 0.5) # update camera offset - self.path_offset = self.camera_offset - MODEL_PATH_OFFSET + self.camera_offset = clip(self.op_params.get('camera_offset'), -0.3, 0.3) # update camera offset + if not TICI: # TODO: make sure this is correct + self.path_offset = self.camera_offset - STANDARD_CAMERA_OFFSET + STANDARD_PATH_OFFSET # offset path self.ll_t = (np.array(md.laneLines[1].t) + np.array(md.laneLines[2].t))/2 # left and right ll x is the same