modeld: remove modeldata.h (#30423)

* remove modeldata.h

* remove TRAJECTORY_SIZE
old-commit-hash: 335237aea0

common/modeldata.h

@@ -1,38 +0,0 @@
-#pragma once
-
-#include <array>
-#include "common/mat.h"
-#include "system/hardware/hw.h"
-
-const int TRAJECTORY_SIZE = 33;
-const int LAT_MPC_N = 16;
-const int LON_MPC_N = 32;
-const float MIN_DRAW_DISTANCE = 10.0;
-const float MAX_DRAW_DISTANCE = 100.0;
-
-const float RYG_GREEN = 0.01165;
-const float RYG_YELLOW = 0.06157;
-
-template <typename T, size_t size>
-constexpr std::array<T, size> build_idxs(float max_val) {
-  std::array<T, size> result{};
-  for (int i = 0; i < size; ++i) {
-    result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1)));
-  }
-  return result;
-}
-
-constexpr auto T_IDXS = build_idxs<double, TRAJECTORY_SIZE>(10.0);
-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,
-                                           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,
-                                           0.0, 567.0, 1208.0 / 2,
-                                           0.0, 0.0, 1.0}};

release/files_common

@@ -163,7 +163,6 @@ common/ratekeeper.h
 common/watchdog.cc
 common/watchdog.h
 
-common/modeldata.h
 common/mat.h
 common/timing.h
 

selfdrive/ui/ui.cc

@@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
   const auto line_x = line.getX();
   int max_idx = 0;
-  for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
     max_idx = i;
   }
   return max_idx;
@@ -84,10 +84,10 @@ void update_model(UIState *s,
                   const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
   auto plan_position = plan.getPosition();
-  if (plan_position.getX().size() < TRAJECTORY_SIZE){
+  if (plan_position.getX().size() < model.getPosition().getX().size()) {
     plan_position = model.getPosition();
   }
-  float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1],
+  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines

selfdrive/ui/ui.h

@@ -3,7 +3,6 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <optional>
 
 #include <QObject>
 #include <QTimer>
@@ -13,9 +12,10 @@
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
-#include "common/modeldata.h"
+#include "common/mat.h"
 #include "common/params.h"
 #include "common/timing.h"
+#include "system/hardware/hw.h"
 
 const int UI_BORDER_SIZE = 30;
 const int UI_HEADER_HEIGHT = 420;
@@ -24,7 +24,18 @@ const int UI_FREQ = 20; // Hz
 const int BACKLIGHT_OFFROAD = 50;
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
+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,
+                                           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,
+                                           0.0, 0.0, 1.0}};
+
 
 constexpr vec3 default_face_kpts_3d[] = {
   {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},

system/camerad/cameras/camera_common.cc

@@ -13,7 +13,6 @@
 
 #include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
-#include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"