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Fix tici bigmodel (#23817)

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* Fix bigmodel on tici: cam intrinsics arent static

* Give TICI route own name for import

* Make function useable in offline test

* typo

* change tici ecam focal to trained focal

* No shadow variable

* Fixed ref

* Force update this time

* Update model replay ref commit
old-commit-hash: 48154703a7
This commit is contained in:
HaraldSchafer
2022-02-21 19:57:04 -08:00
committed by GitHub
parent 41de03aa6e
commit fc042cd85a
4 changed files with 16 additions and 13 deletions
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selfdrive/modeld/modeld.cc
+1 -1
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@@ -33,7 +33,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
-2.19780220e-03, 4.11497335e-19, 5.62637363e-01,
-5.46146580e-20, 1.80147721e-03, -2.73464241e-01).finished();
static const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
static const mat3 yuv_transform = get_model_yuv_transform();
auto ground_from_model_frame = bigmodel_frame ? ground_from_sbigmodel_frame : ground_from_medmodel_frame;