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Use TICI intrinsics by default on PC (#22546)

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old-commit-hash: fd3fdea7b4f811038c3e1145d283b0f7e15a90f0
This commit is contained in:
Mitchell Goff
2021-10-13 12:44:36 -07:00
committed by GitHub
parent 61e3458852
commit 075d7a85a0
2 changed files with 9 additions and 9 deletions
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selfdrive/common/modeldata.h
+7 -7
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@@ -26,12 +26,12 @@ const double X_IDXS[TRAJECTORY_SIZE] = {
#include "selfdrive/common/mat.h"
#include "selfdrive/hardware/hw.h"
const mat3 fcam_intrinsic_matrix =
Hardware::TICI() ? (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}}
: (mat3){{910., 0., 1164.0 / 2,
0., 910., 874.0 / 2,
0., 0., 1.}};
Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
0., 910., 874.0 / 2,
0., 0., 1.}}
: (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
// without unwarp, focal length is for center portion only
const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
@@ -39,7 +39,7 @@ const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
0.0, 0.0, 1.0}};
static inline mat3 get_model_yuv_transform(bool bayer = true) {
float db_s = Hardware::TICI() ? 1.0 : 0.5; // debayering does a 2x downscale on EON
float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
const mat3 transform = (mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
selfdrive/ui/ui.h
+2 -2
View File
@@ -30,8 +30,8 @@ typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
// TODO: this is also hardcoded in common/transformations/camera.py
// TODO: choose based on frame input size
const float y_offset = Hardware::TICI() ? 150.0 : 0.0;
const float ZOOM = Hardware::TICI() ? 2912.8 : 2138.5;
const float y_offset = Hardware::EON() ? 0.0 : 150.0;
const float ZOOM = Hardware::EON() ? 2138.5 : 2912.8;
typedef struct Rect {
int x, y, w, h;