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modeldata.h: cleanup ecam_intrinsic_matrix (#22135)

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old-commit-hash: 31c743b40ec73815b0b99d99a5e9028a46679488
This commit is contained in:
Dean Lee
2021-09-07 06:12:27 +08:00
committed by GitHub
parent 752b38c0ca
commit b1cfdaa5d6
1 changed files with 3 additions and 7 deletions
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selfdrive/common/modeldata.h
+3 -7
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@@ -34,13 +34,9 @@ const mat3 fcam_intrinsic_matrix =
0., 0., 1.}};
// without unwarp, focal length is for center portion only
const mat3 ecam_intrinsic_matrix =
Hardware::TICI() ? (mat3){{620.0, 0.0, 1928.0 / 2,
0.0, 620.0, 1208.0 / 2,
0.0, 0.0, 1.0}}
: (mat3){{0., 0., 0.,
0., 0., 0.,
0., 0., 0.}};
const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
0.0, 620.0, 1208.0 / 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