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ui: use C3 video sizes by default on PC

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This commit is contained in:
Willem Melching
2021-09-14 11:27:34 -07:00
parent 362f067c9c
commit cf4cd3b693
2 changed files with 10 additions and 10 deletions
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15
selfdrive/common/modeldata.h
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@@ -26,12 +26,13 @@ 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::TICI() || Hardware::PC()) ?
(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.}};
// without unwarp, focal length is for center portion only
const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
@@ -39,7 +40,7 @@ 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::TICI() || Hardware::PC()) ? 1.0 : 0.5; // debayering does a 2x downscale on EON
const mat3 transform = (mat3){{
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,

5
selfdrive/ui/ui.h
View File

@@ -28,10 +28,9 @@
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::TICI() || Hardware::PC()) ? 150.0 : 0.0;
const float ZOOM = (Hardware::TICI() || Hardware::PC()) ? 2912.8 : 2138.5;
typedef struct Rect {
int x, y, w, h;