generalize camera assumptions (#2423)

* clean up 1

* complain

* cleanup

* make models api generic

* clean up 2

* cleanup

* remove unused

tools/replay/lib/ui_helpers.py

@@ -6,6 +6,8 @@ import matplotlib.pyplot as plt
 import numpy as np
 import pygame  # pylint: disable=import-error
 
+from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
+                                           tici_f_frame_size, tici_f_focal_length)
 from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.config import UIParams as UP
 from selfdrive.controls.lib.lane_planner import (compute_path_pinv,
@@ -29,7 +31,9 @@ _FULL_FRAME_SIZE = {
 _BB_TO_FULL_FRAME = {}
 _FULL_FRAME_TO_BB = {}
 _INTRINSICS = {}
-for width, height, focal in [(1164, 874, 910), (1928, 1208, 2648)]:
+cams = [(eon_f_frame_size[0], eon_f_frame_size[1], eon_f_focal_length),
+        (tici_f_frame_size[0], tici_f_frame_size[1], tici_f_focal_length)]
+for width, height, focal in cams:
   sz = width * height
   _BB_SCALE = width / 640.
   _BB_TO_FULL_FRAME[sz] = np.asarray([

tools/replay/ui.py

@@ -196,7 +196,7 @@ def ui_thread(addr, frame_address):
     if sm.updated['liveCalibration'] and num_px:
       extrinsic_matrix = np.asarray(sm['liveCalibration'].extrinsicMatrix).reshape(3, 4)
       ke = intrinsic_matrix.dot(extrinsic_matrix)
-      warp_matrix = get_camera_frame_from_model_frame(ke)
+      warp_matrix = get_camera_frame_from_model_frame(ke, camera_fl=intrinsic_matrix[0][0])
       calibration = CalibrationTransformsForWarpMatrix(num_px, warp_matrix, intrinsic_matrix, extrinsic_matrix)
 
     # draw red pt for lead car in the main img