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move intrinsic_matrix into modeldata.h, removed duplicate definitions. (#20051)

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* move intrinsic_matrix into modeldata.h

* def __cplusplus
old-commit-hash: ae72d34a42f23e9b295641e1b0f50515434d6d1f
This commit is contained in:
Dean Lee
2021-03-03 18:47:48 +08:00
committed by GitHub
parent a2f41becf0
commit 5e19cdb0d3
3 changed files with 27 additions and 22 deletions
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selfdrive/common/modeldata.h
+20
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@@ -16,3 +16,23 @@ const double X_IDXS[TRAJECTORY_SIZE] = { 0. , 0.1875, 0.75 , 1.6875,
60.75 , 67.6875, 75. , 82.6875, 90.75 , 99.1875,
108. , 117.1875, 126.75 , 136.6875, 147. , 157.6875,
168.75 , 180.1875, 192.};
#ifdef __cplusplus
#include "common/mat.h"
#ifdef QCOM2
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
}};
#else
const mat3 fcam_intrinsic_matrix = (mat3){{
910., 0., 1164.0/2,
0., 910., 874.0/2,
0., 0., 1.
}};
#endif
#endif
selfdrive/modeld/modeld.cc
+3 -8
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@@ -37,17 +37,12 @@ void* live_thread(void *arg) {
-1.84808520e-20, 9.00738606e-04,-4.28751576e-02;
Eigen::Matrix<float, 3, 3> fcam_intrinsics;
for (auto &v : fcam_intrinsic_matrix.v) {
fcam_intrinsics << v;
}
#ifndef QCOM2
fcam_intrinsics <<
910.0, 0.0, 582.0,
0.0, 910.0, 437.0,
0.0, 0.0, 1.0;
float db_s = 0.5; // debayering does a 2x downscale
#else
fcam_intrinsics <<
2648.0, 0.0, 1928.0/2,
0.0, 2648.0, 1208.0/2,
0.0, 0.0, 1.0;
float db_s = 1.0;
#endif
selfdrive/ui/paint.cc
+4 -14
View File
@@ -20,19 +20,9 @@
#ifdef QCOM2
const float y_offset = 150.0;
const float zoom = 1.1;
const mat3 intrinsic_matrix = (mat3){{
2648.0, 0.0, 1928.0/2,
0.0, 2648.0, 1208.0/2,
0.0, 0.0, 1.0
}};
#else
const float y_offset = 0.0;
const float zoom = 2.35;
const mat3 intrinsic_matrix = (mat3){{
910., 0., 1164.0/2,
0., 910., 874.0/2,
0., 0., 1.
}};
#endif
// Projects a point in car to space to the corresponding point in full frame
@@ -41,7 +31,7 @@ bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float i
const float margin = 500.0f;
const vec3 pt = (vec3){{in_x, in_y, in_z}};
const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt);
const vec3 KEp = matvecmul3(intrinsic_matrix, Ep);
const vec3 KEp = matvecmul3(fcam_intrinsic_matrix, Ep);
// Project.
float x = KEp.v[0] / KEp.v[2];
@@ -618,8 +608,8 @@ void ui_nvg_init(UIState *s) {
}
s->video_rect = Rect{bdr_s, bdr_s, s->fb_w - 2 * bdr_s, s->fb_h - 2 * bdr_s};
float zx = zoom * 2 * intrinsic_matrix.v[2] / s->video_rect.w;
float zy = zoom * 2 * intrinsic_matrix.v[5] / s->video_rect.h;
float zx = zoom * 2 * fcam_intrinsic_matrix.v[2] / s->video_rect.w;
float zy = zoom * 2 * fcam_intrinsic_matrix.v[5] / s->video_rect.h;
const mat4 frame_transform = {{
zx, 0.0, 0.0, 0.0,
@@ -639,7 +629,7 @@ void ui_nvg_init(UIState *s) {
nvgScale(s->vg, zoom, zoom);
// 3) Put (0, 0) in top left corner of video
nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
nvgTranslate(s->vg, -fcam_intrinsic_matrix.v[2], -fcam_intrinsic_matrix.v[5]);
nvgCurrentTransform(s->vg, s->car_space_transform);
nvgResetTransform(s->vg);