58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
#pragma once
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#include <array>
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#include "selfdrive/common/mat.h"
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#include "selfdrive/hardware/hw.h"
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const int TRAJECTORY_SIZE = 33;
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const int LAT_MPC_N = 16;
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const int LON_MPC_N = 32;
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const float MIN_DRAW_DISTANCE = 10.0;
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const float MAX_DRAW_DISTANCE = 100.0;
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template <typename T, size_t size>
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constexpr std::array<T, size> build_idxs(float max_val) {
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std::array<T, size> result{};
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for (int i = 0; i < size; ++i) {
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result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
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}
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return result;
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}
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constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
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constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
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constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
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constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
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const int TICI_CAM_WIDTH = 1928;
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namespace tici_dm_crop {
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const int x_offset = -72;
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const int y_offset = -144;
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const int width = 954;
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};
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const mat3 fcam_intrinsic_matrix =
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Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
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0., 910., 874.0 / 2,
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0., 0., 1.}}
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: (mat3){{2648.0, 0.0, 1928.0 / 2,
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0.0, 2648.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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// tici ecam focal probably wrong? magnification is not consistent across frame
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// Need to retrain model before this can be changed
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const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
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0.0, 567.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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static inline mat3 get_model_yuv_transform(bool bayer = true) {
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float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
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const mat3 transform = (mat3){{
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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}};
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return bayer ? transform_scale_buffer(transform, db_s) : transform;
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}
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