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OS camera calibration (#35603)

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* wider narrow

* typo

* whiteapace
This commit is contained in:
Harald Schäfer
2025-06-25 22:08:56 -07:00
committed by GitHub
parent 56fca1353f
commit d1893ee3eb
1 changed files with 6 additions and 2 deletions
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8
selfdrive/locationd/calibrationd.py
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@@ -13,6 +13,7 @@ from typing import NoReturn
from cereal import log, car
import cereal.messaging as messaging
from openpilot.system.hardware import HARDWARE
from openpilot.common.conversions import Conversions as CV
from openpilot.common.params import Params
from openpilot.common.realtime import config_realtime_process
@@ -36,8 +37,11 @@ RPY_INIT = np.array([0.0,0.0,0.0])
WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
HEIGHT_INIT = np.array([1.22])
# These values are needed to accommodate the model frame in the narrow cam of the C3
PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
# These values are needed to accommodate the model frame in the narrow cam
if HARDWARE.get_device_type() == 'mici':
PITCH_LIMITS = np.array([-0.143101, 0.22235988])
else:
PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
DEBUG = os.getenv("DEBUG") is not None