From 14839a172b78bf2d63e5eaad3e8274d9471e3d7d Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 23 Jul 2024 20:58:51 -0700
Subject: [PATCH] all

---
 common/transformations/camera.py       | 2 +-
 selfdrive/ui/ui.h                      | 8 ++++----
 system/camerad/cameras/camera_qcom2.cc | 2 +-
 system/camerad/cameras/camera_qcom2.h  | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index dc3ca5f388..3c84a1cb03 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -49,7 +49,7 @@ class DeviceCameraConfig:
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
 _os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 1522.0 * 3 / 2), _os_fisheye, CameraConfig(2688, 1520, 1522.0 * 3 / 2))
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 237abe1224..548bedce47 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -25,13 +25,13 @@ const int BACKLIGHT_OFFROAD = 50;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
-constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 2,
+constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{1522.0 * 1.5, 0.0, 2688.0 / 2,
+                                           0.0, 1522.0 * 1.5, 1520.0 / 2,
                                            0.0, 0.0, 1.0}};
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
+constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{1522.0 * 1.5, 0.0, 2688.0 / 2,
+                                           0.0, 1522.0 * 1.5, 1520.0 / 2,
                                            0.0, 0.0, 1.0}};
 
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 47ea5ded4d..994a6a2e08 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -399,7 +399,7 @@ void CameraState::set_exposure_rect() {
   // set areas for each camera, shouldn't be changed
   std::vector<std::pair<Rect, float>> ae_targets = {
     // (Rect, F)
-    std::make_pair((Rect){96, 250, 1734, 524}, 567.0), // wide
+    std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // wide
     std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road
     std::make_pair((Rect){96, 242, 1736, 906}, 567.0) // driver
   };
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 0b15c9c3f0..69852521c6 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,8 +11,8 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
+#define ROAD_FL_MM 4.6f
+#define WIDE_FL_MM 4.6f
 #define DRIVER_FL_MM 1.71f
 
 class CameraState {