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modeld: remove modeldata.h (#30423)

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* remove modeldata.h

* remove TRAJECTORY_SIZE
old-commit-hash: 335237aea0a854b41960c32b2f54b6c5af63b707
This commit is contained in:
Dean Lee
2023-11-19 14:45:26 +08:00
committed by GitHub
parent e56998ca26
commit 54346eccee
5 changed files with 17 additions and 46 deletions
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common/modeldata.h
-38
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@@ -1,38 +0,0 @@
#pragma once
#include <array>
#include "common/mat.h"
#include "system/hardware/hw.h"
const int TRAJECTORY_SIZE = 33;
const int LAT_MPC_N = 16;
const int LON_MPC_N = 32;
const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;
const float RYG_GREEN = 0.01165;
const float RYG_YELLOW = 0.06157;
template <typename T, size_t size>
constexpr std::array<T, size> build_idxs(float max_val) {
std::array<T, size> result{};
for (int i = 0; i < size; ++i) {
result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
}
return result;
}
constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
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,
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,
0.0, 567.0, 1208.0 / 2,
0.0, 0.0, 1.0}};