4.5/4.7

common/transformations/camera.py

@@ -47,9 +47,9 @@ class DeviceCameraConfig:
         yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688, 1520, 2234.0)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 / 2 * 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2333.0), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {

selfdrive/ui/ui.h

@@ -27,13 +27,13 @@ typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 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 * 1.5, 0.0, 2688.0 / 2,
-                                           0.0, 2648.0 * 1.5, 1520.0 / 2,
+constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2333.0, 0.0, 2688.0 / 2,
+                                           0.0, 2333.0, 1520.0 / 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 * 1.5, 0.0, 2688.0 / 2,
-                                           0.0, 567.0 * 1.5, 1520.0 / 2,
+constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{2234.0, 0.0, 2688.0 / 2,
+                                           0.0, 2234.0, 1520.0 / 2,
                                            0.0, 0.0, 1.0}};