modeldata.h: convert constants to uppercase (#28769)

common/modeldata.h

@@ -27,12 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
+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}};
 
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
+const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};

selfdrive/modeld/modeld.cc

@@ -43,7 +43,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
      1.0,  0.0,  0.0).finished();
 
 
-  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v);
   Eigen::Matrix<float, 3, 3, Eigen::RowMajor>  device_from_calib = euler2rot(device_from_calib_euler).cast <float> ();
   auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
   auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;

selfdrive/ui/qt/widgets/cameraview.cc

@@ -209,10 +209,10 @@ void CameraWidget::updateFrameMat() {
       // for narrow come and a little lower for wide cam.
       // TODO: use proper perspective transform?
       if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
-        intrinsic_matrix = ecam_intrinsic_matrix;
+        intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
         zoom = 2.0;
       } else {
-        intrinsic_matrix = fcam_intrinsic_matrix;
+        intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
         zoom = 1.1;
       }
       const vec3 inf = {{1000., 0., 0.}};

selfdrive/ui/qt/widgets/cameraview.h

@@ -83,7 +83,7 @@ protected:
   float y_offset = 0;
   float zoom = 1.0;
   mat3 calibration = DEFAULT_CALIBRATION;
-  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
+  mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
 
   std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;

selfdrive/ui/ui.cc

@@ -24,7 +24,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 
   const vec3 pt = (vec3){{in_x, in_y, in_z}};
   const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
-  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);
+  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
 
   // Project.
   QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});