Fix tici bigmodel (#23817)

* Fix bigmodel on tici: cam intrinsics arent static

* Give TICI route own name for import

* Make function useable in offline test

* typo

* change tici ecam focal to trained focal

* No shadow variable

* Fixed ref

* Force update this time

* Update model replay ref commit

selfdrive/common/modeldata.h

@@ -40,9 +40,10 @@ const mat3 fcam_intrinsic_matrix =
                               0.0, 2648.0, 1208.0 / 2,
                               0.0, 0.0, 1.0}};
 
-// without unwarp, focal length is for center portion only
-const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
-                                           0.0, 620.0, 1208.0 / 2,
+// 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}};
 
 static inline mat3 get_model_yuv_transform(bool bayer = true) {

selfdrive/modeld/modeld.cc

@@ -33,7 +33,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
     -2.19780220e-03,  4.11497335e-19,  5.62637363e-01,
     -5.46146580e-20,  1.80147721e-03, -2.73464241e-01).finished();
 
-  static const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
   static const mat3 yuv_transform = get_model_yuv_transform();
 
   auto ground_from_model_frame = bigmodel_frame ? ground_from_sbigmodel_frame : ground_from_medmodel_frame;

selfdrive/test/process_replay/model_replay.py

@@ -21,19 +21,21 @@ from selfdrive.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
 
+TICI_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
+EON_TEST_ROUTE = "303055c0002aefd1|2021-11-22--18-36-32"
+SEGMENT = 0
 if TICI:
-  TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
+  TEST_ROUTE = TICI_TEST_ROUTE
 else:
-  TEST_ROUTE = "303055c0002aefd1|2021-11-22--18-36-32"
-SEGMENT = 0
+  TEST_ROUTE = EON_TEST_ROUTE
 
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
 VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
                "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
 
-def get_log_fn(ref_commit):
-  return f"{TEST_ROUTE}_{'model_tici' if TICI else 'model'}_{ref_commit}.bz2"
+def get_log_fn(ref_commit, test_route, tici=True):
+  return f"{test_route}_{'model_tici' if tici else 'model'}_{ref_commit}.bz2"
 
 
 def replace_calib(msg, calib):
@@ -159,7 +161,7 @@ if __name__ == "__main__":
   if not update:
     with open(ref_commit_fn) as f:
       ref_commit = f.read().strip()
-    log_fn = get_log_fn(ref_commit)
+    log_fn = get_log_fn(ref_commit, TEST_ROUTE, tici=TICI)
     try:
       cmp_log = LogReader(BASE_URL + log_fn)
 
@@ -191,7 +193,7 @@ if __name__ == "__main__":
     print("Uploading new refs")
 
     new_commit = get_commit()
-    log_fn = get_log_fn(new_commit)
+    log_fn = get_log_fn(new_commit, TEST_ROUTE, tici=TICI)
     save_log(log_fn, log_msgs)
     try:
       upload_file(log_fn, os.path.basename(log_fn))

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-b48904b48036aa0c023759f214740f226b52b5b8
+19720e79b1c5136a882efd689651d9044e2e2007