modeldata.h: cleanup ecam_intrinsic_matrix (#22135)

4 years ago · 31c743b40e
parent 37daec5dee
commit 31c743b40e
1 changed files with 3 additions and 7 deletions
--- a/selfdrive/common/modeldata.h
+++ b/selfdrive/common/modeldata.h
@ -34,13 +34,9 @@ const mat3 fcam_intrinsic_matrix =
                               0., 0., 1.}};

 // without unwarp, focal length is for center portion only
-const mat3 ecam_intrinsic_matrix =
-    Hardware::TICI() ? (mat3){{620.0, 0.0, 1928.0 / 2,
-                               0.0, 620.0, 1208.0 / 2,
-                               0.0, 0.0, 1.0}}
-                     : (mat3){{0., 0., 0.,
-                               0., 0., 0.,
-                               0., 0., 0.}};
+const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
+                                           0.0, 620.0, 1208.0 / 2,
+                                           0.0, 0.0, 1.0}};

 static inline mat3 get_model_yuv_transform(bool bayer = true) {
  float db_s = Hardware::TICI() ? 1.0 : 0.5; // debayering does a 2x downscale on EON