cameras: use common transform (#19552)

old-commit-hash: 9890f958d9

selfdrive/camerad/cameras/camera_common.cc

@@ -72,12 +72,12 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
 #else
   float db_s = 1.0;
 #endif
-
-  if (ci->bayer) {
-    yuv_transform = transform_scale_buffer(s->transform, db_s);
-  } else {
-    yuv_transform = s->transform;
-  }
+  const mat3 transform = (mat3){{
+    1.0, 0.0, 0.0,
+    0.0, 1.0, 0.0,
+    0.0, 0.0, 1.0
+  }};
+  yuv_transform = ci->bayer ? transform_scale_buffer(transform, db_s) : transform;
 
   for (int i = 0; i < UI_BUF_COUNT; i++) {
     VisionImg img = visionimg_alloc_rgb24(device_id, context, rgb_width, rgb_height, &rgb_bufs[i]);

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -89,18 +89,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
 
 void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
   camera_init(&s->rear, CAMERA_ID_IMX298, 20, device_id, ctx);
-  s->rear.transform = (mat3){{
-    1.0,  0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0,  0.0, 1.0,
-  }};
-
   camera_init(&s->front, CAMERA_ID_OV8865, 10, device_id, ctx);
-  s->front.transform = (mat3){{
-    1.0,  0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0,  0.0, 1.0,
-  }};
 }
 
 void camera_autoexposure(CameraState *s, float grey_frac) {}

selfdrive/camerad/cameras/camera_frame_stream.h

@@ -21,8 +21,6 @@ typedef struct CameraState {
   float digital_gain;
   float cur_gain_frac;
 
-  mat3 transform;
-
   CameraBuf buf;
 } CameraState;
 

selfdrive/camerad/cameras/camera_qcom.cc

@@ -315,20 +315,6 @@ void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
     s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
   }
 
-  // assume the device is upside-down (not anymore)
-  s->rear.transform = (mat3){{
-     1.0,  0.0, 0.0,
-     0.0,  1.0, 0.0,
-     0.0,  0.0, 1.0,
-  }};
-
-  // probably wrong
-  s->front.transform = (mat3){{
-     1.0,  0.0, 0.0,
-     0.0,  1.0, 0.0,
-     0.0,  0.0, 1.0,
-  }};
-
   s->rear.device = s->device;
   s->front.device = s->device;
 

selfdrive/camerad/cameras/camera_qcom.h

@@ -109,8 +109,6 @@ typedef struct CameraState {
 
   int fps;
 
-  mat3 transform;
-
   CameraBuf buf;
 } CameraState;
 

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -562,12 +562,6 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
 
   s->camera_num = camera_num;
 
-  s->transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0,
-  }};
-
   s->dc_gain_enabled = false;
   s->analog_gain = 0x5;
   s->analog_gain_frac = sensor_analog_gains[s->analog_gain];

selfdrive/camerad/cameras/camera_qcom2.h

@@ -31,8 +31,6 @@ typedef struct CameraState {
   int exposure_time_max;
   float ef_filtered;
 
-  mat3 transform;
-
   int device_iommu;
   int cdm_iommu;
 

selfdrive/camerad/cameras/camera_webcam.cc

@@ -220,19 +220,7 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
 void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
 
   camera_init(&s->rear, CAMERA_ID_LGC920, 20, device_id, ctx);
-  s->rear.transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0,
-  }};
-
   camera_init(&s->front, CAMERA_ID_LGC615, 10, device_id, ctx);
-  s->front.transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0,
-  }};
-
   s->pm = new PubMaster({"frame", "frontFrame"});
 }
 

selfdrive/camerad/cameras/camera_webcam.h

@@ -16,7 +16,6 @@ typedef struct CameraState {
   CameraInfo ci;
   int fps;
   float digital_gain;
-  mat3 transform;
   CameraBuf buf;
 } CameraState;