all

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 = {

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,
+constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{1522.0 * 1.5, 0.0, 2688.0 / 2,
-                                           0.0, 2648.0, 1208.0 / 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,
+constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{1522.0 * 1.5, 0.0, 2688.0 / 2,
-                                           0.0, 567.0, 1208.0 / 2,
+                                           0.0, 1522.0 * 1.5, 1520.0 / 2,
                                            0.0, 0.0, 1.0}};
 
 

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
   };

system/camerad/cameras/camera_qcom2.h

@@ -11,8 +11,8 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
+#define ROAD_FL_MM 4.6f
-#define WIDE_FL_MM 1.71f
+#define WIDE_FL_MM 4.6f
 #define DRIVER_FL_MM 1.71f
 
 class CameraState {