diff --git a/common/transformations/camera.py b/common/transformations/camera.py index 9c365dc7e3..29ce3277d7 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -5,14 +5,12 @@ from selfdrive.hardware import TICI ## -- hardcoded hardware params -- eon_f_focal_length = 910.0 -eon_d_focal_length = 860.0 -leon_d_focal_length = 650.0 +eon_d_focal_length = 650.0 tici_f_focal_length = 2648.0 tici_e_focal_length = tici_d_focal_length = 567.0 # probably wrong? magnification is not consistent across frame eon_f_frame_size = (1164, 874) -eon_d_frame_size = (1152, 864) -leon_d_frame_size = (816, 612) +eon_d_frame_size = (816, 612) tici_f_frame_size = tici_e_frame_size = tici_d_frame_size = (1928, 1208) # aka 'K' aka camera_frame_from_view_frame @@ -22,11 +20,6 @@ eon_fcam_intrinsics = np.array([ [0.0, 0.0, 1.0]]) eon_intrinsics = eon_fcam_intrinsics # xx -leon_dcam_intrinsics = np.array([ - [leon_d_focal_length, 0.0, float(leon_d_frame_size[0])/2], - [0.0, leon_d_focal_length, float(leon_d_frame_size[1])/2], - [0.0, 0.0, 1.0]]) - eon_dcam_intrinsics = np.array([ [eon_d_focal_length, 0.0, float(eon_d_frame_size[0])/2], [0.0, eon_d_focal_length, float(eon_d_frame_size[1])/2], diff --git a/scripts/get_fan_control_type.py b/scripts/get_fan_control_type.py deleted file mode 100755 index da43596183..0000000000 --- a/scripts/get_fan_control_type.py +++ /dev/null @@ -1,42 +0,0 @@ -#!/usr/bin/env python3 -import os -from smbus2 import SMBus - -def setup_fan(): - os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch") - - bus = SMBus(7, force=True) - try: - bus.write_byte_data(0x21, 0x10, 0xf) # mask all interrupts - bus.write_byte_data(0x21, 0x03, 0x1) # set drive current and global interrupt disable - bus.write_byte_data(0x21, 0x02, 0x2) # needed? - bus.write_byte_data(0x21, 0x04, 0x4) # manual override source - print("OP detected") - ret = False - except IOError: - print("LEON detected") - ret = True - bus.close() - return ret - -def get_fan_type(): - if not setup_fan(): - return - - bus = SMBus(7, force=True) - try: - # alternate type - bus.write_i2c_block_data(0x3d, 0, [0x1]) - print("Alternate type detected") - return - except IOError: - # tusb320 type - print("tusb320 type detected") - bus.close() - - -def main(gctx=None): - get_fan_type() - -if __name__ == "__main__": - main() diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py index 52c67d65e3..b7dd300da1 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/selfdrive/camerad/snapshot/snapshot.py @@ -10,7 +10,7 @@ from typing import List import cereal.messaging as messaging from common.params import Params from common.realtime import DT_MDL -from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size +from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size from selfdrive.hardware import TICI from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.manager.process_config import managed_processes @@ -39,7 +39,7 @@ def rois_in_focus(lapres: List[float]) -> float: def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.): - frame_sizes = [eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size] + frame_sizes = [eon_f_frame_size, eon_d_frame_size, tici_f_frame_size] frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes} sockets = []