part 2

jagheterfredrik · Nov 11, 2024 · e7f64ef · e7f64ef
1 parent 58385ab
commit e7f64ef
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Showing 3 changed files with 12 additions and 7 deletions.
diff --git a/common/java/ai.flow.common/transformations/Camera.java b/common/java/ai.flow.common/transformations/Camera.java
@@ -10,8 +10,8 @@ public class Camera {
     public static final boolean FORCE_TELE_CAM_F3 = false;
 
     public static float
-        FocalX = 930f,
-        FocalY = 930f,
+        FocalX = 1930f,
+        FocalY = 1930f,
         CenterX = 640f, //632
         CenterY = 360f; //358
 

diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
@@ -81,6 +81,7 @@ def parse_model(self, md):
     if self.updateOptions <= 0:
       self.updateOptions = 100
       self.UseModelPath = self.Options.get_bool("UseModelPath")
+      self.get_camera_offset()
 
     lane_lines = md.laneLines
     edges = md.roadEdges

diff --git a/selfdrive/ui/java/ai.flow.app/OnRoadScreen.java b/selfdrive/ui/java/ai.flow.app/OnRoadScreen.java
@@ -493,6 +493,8 @@ public void clicked(InputEvent event, float x, float y) {
         animationSunset = GifDecoder.loadGIFAnimation(Animation.PlayMode.LOOP, Gdx.files.internal("gifs/sunset.gif").read());
         animationNight = GifDecoder.loadGIFAnimation(Animation.PlayMode.LOOP, Gdx.files.internal("gifs/night.gif").read());
 
+        getLaneOffset();
+
         sh = new ZMQSubHandler(true);
         sh.createSubscribers(Arrays.asList("lateralPlan", cameraTopic, cameraBufferTopic, deviceStateTopic, calibrationTopic, carStateTopic, controlsStateTopic, modelTopic, "roadCameraBuffer", "roadCameraState"));
     }
@@ -770,16 +772,18 @@ public void resize(int width, int height) {
         stageSettings.getViewport().update(width, height);
     }
 
-    private float getLaneOffset() {
+    private float laneOffset = 0.08f;
+
+    private void getLaneOffset() {
         try {
-            return Float.parseFloat(params.getString("LaneCameraOffset"));
+            laneOffset = Float.parseFloat(params.getString("LaneCameraOffset"));
         } catch (NumberFormatException exc) {
-            return 0.08f;
+            laneOffset = 0.08f;
         }
     }
 
     private void shiftLaneOffset(float delta) {
-        float laneOffset = getLaneOffset();
+        getLaneOffset();
         laneOffset += delta;
         params.put("LaneCameraOffset", Float.toString(laneOffset));
     }
@@ -841,7 +845,7 @@ public void render(float delta) {
             appContext.font.setColor(1, 1, 1, 1);
             appContext.font.draw(batch, "L1: " + Line1 + "\nL2: " + Line2,3,200);
             appContext.font.draw(batch, utils.F2 ? "Medium Model" : "Big Model", Gdx.graphics.getWidth() - 450f, 300f);
-            appContext.font.draw(batch, "COff: " + getLaneOffset(), Gdx.graphics.getWidth() - 450f, 225f);
+            appContext.font.draw(batch, "COff: " + laneOffset, Gdx.graphics.getWidth() - 450f, 225f);
             appContext.font.draw(batch, tempStr + ", " + ModelExecutorF3.AvgIterationTime + "ms", Gdx.graphics.getWidth() - 450f, 150f);
             appContext.font.draw(batch, IPstring, Gdx.graphics.getWidth() - 450f, 75f);
             batch.end();