openpilot_comma/selfdrive/common/modeldata.h

#pragma once
const int  TRAJECTORY_SIZE = 33;
const float MIN_DRAW_DISTANCE = 10.0;
const float MAX_DRAW_DISTANCE = 100.0;

const double T_IDXS[TRAJECTORY_SIZE] = {0.        ,  0.00976562,  0.0390625 ,  0.08789062,  0.15625   ,
        0.24414062,  0.3515625 ,  0.47851562,  0.625     ,  0.79101562,
        0.9765625 ,  1.18164062,  1.40625   ,  1.65039062,  1.9140625 ,
        2.19726562,  2.5       ,  2.82226562,  3.1640625 ,  3.52539062,
        3.90625   ,  4.30664062,  4.7265625 ,  5.16601562,  5.625     ,
        6.10351562,  6.6015625 ,  7.11914062,  7.65625   ,  8.21289062,
        8.7890625 ,  9.38476562, 10.};
const double X_IDXS[TRAJECTORY_SIZE] = { 0.    ,   0.1875,   0.75  ,   1.6875,   3.    ,   4.6875,
         6.75  ,   9.1875,  12.    ,  15.1875,  18.75  ,  22.6875,
        27.    ,  31.6875,  36.75  ,  42.1875,  48.    ,  54.1875,
        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

static inline mat3 get_model_yuv_transform(bool bayer = true) {
#ifndef QCOM2
  float db_s = 0.5; // debayering does a 2x downscale
#else
  float db_s = 1.0;
#endif
  const mat3 transform = (mat3){{
    1.0, 0.0, 0.0,
    0.0, 1.0, 0.0,
    0.0, 0.0, 1.0
  }};
  return bayer ? transform_scale_buffer(transform, db_s) : transform;
}

#endif