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modeldata.h: convert constants to uppercase (#28769)

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old-commit-hash: 32c5e6aafb702a5a17ca7b43c9062ce9e4462d34
This commit is contained in:
Dean Lee
2023-07-01 15:26:21 +08:00
committed by GitHub
parent 75d92ae89c
commit 235235b2d9
5 changed files with 7 additions and 7 deletions
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common/modeldata.h
+2 -2
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@@ -27,12 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
0.0, 2648.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
// tici ecam focal probably wrong? magnification is not consistent across frame
// Need to retrain model before this can be changed
const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
0.0, 567.0, 1208.0 / 2,
0.0, 0.0, 1.0}};
selfdrive/modeld/modeld.cc
+1 -1
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@@ -43,7 +43,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
1.0, 0.0, 0.0).finished();
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);
Eigen::Matrix<float, 3, 3, Eigen::RowMajor> device_from_calib = euler2rot(device_from_calib_euler).cast <float> ();
auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;
selfdrive/ui/qt/widgets/cameraview.cc
+2 -2
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@@ -209,10 +209,10 @@ void CameraWidget::updateFrameMat() {
// for narrow come and a little lower for wide cam.
// TODO: use proper perspective transform?
if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
intrinsic_matrix = ecam_intrinsic_matrix;
intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
zoom = 2.0;
} else {
intrinsic_matrix = fcam_intrinsic_matrix;
intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
zoom = 1.1;
}
const vec3 inf = {{1000., 0., 0.}};
selfdrive/ui/qt/widgets/cameraview.h
+1 -1
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@@ -83,7 +83,7 @@ protected:
float y_offset = 0;
float zoom = 1.0;
mat3 calibration = DEFAULT_CALIBRATION;
mat3 intrinsic_matrix = fcam_intrinsic_matrix;
mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
std::recursive_mutex frame_lock;
std::deque<std::pair<uint32_t, VisionBuf*>> frames;
selfdrive/ui/ui.cc
+1 -1
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@@ -24,7 +24,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
const vec3 pt = (vec3){{in_x, in_y, in_z}};
const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);
const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
// Project.
QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});