From 31c743b40ec73815b0b99d99a5e9028a46679488 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 7 Sep 2021 06:12:27 +0800 Subject: [PATCH] modeldata.h: cleanup ecam_intrinsic_matrix (#22135) --- selfdrive/common/modeldata.h | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/selfdrive/common/modeldata.h b/selfdrive/common/modeldata.h index 49e200d543..e68bf1883a 100644 --- 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