From fd3fdea7b4f811038c3e1145d283b0f7e15a90f0 Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Wed, 13 Oct 2021 12:44:36 -0700
Subject: [PATCH] Use TICI intrinsics by default on PC (#22546)

---
 selfdrive/common/modeldata.h | 14 +++++++-------
 selfdrive/ui/ui.h            |  4 ++--
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/selfdrive/common/modeldata.h b/selfdrive/common/modeldata.h
index e68bf1883a..32fa2cdb66 100644
--- a/selfdrive/common/modeldata.h
+++ b/selfdrive/common/modeldata.h
@@ -26,12 +26,12 @@ const double X_IDXS[TRAJECTORY_SIZE] = {
 #include "selfdrive/common/mat.h"
 #include "selfdrive/hardware/hw.h"
 const mat3 fcam_intrinsic_matrix =
-    Hardware::TICI() ? (mat3){{2648.0, 0.0, 1928.0 / 2,
-                               0.0, 2648.0, 1208.0 / 2,
-                               0.0, 0.0, 1.0}}
-                     : (mat3){{910., 0., 1164.0 / 2,
-                               0., 910., 874.0 / 2,
-                               0., 0., 1.}};
+    Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
+                              0., 910., 874.0 / 2,
+                              0., 0., 1.}}
+                    : (mat3){{2648.0, 0.0, 1928.0 / 2,
+                              0.0, 2648.0, 1208.0 / 2,
+                              0.0, 0.0, 1.0}};
 
 // without unwarp, focal length is for center portion only
 const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
@@ -39,7 +39,7 @@ const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
                                            0.0, 0.0, 1.0}};
 
 static inline mat3 get_model_yuv_transform(bool bayer = true) {
-  float db_s = Hardware::TICI() ? 1.0 : 0.5; // debayering does a 2x downscale on EON
+  float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
   const mat3 transform = (mat3){{
     1.0, 0.0, 0.0,
     0.0, 1.0, 0.0,
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 62d407129c..9930cb84a6 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -30,8 +30,8 @@ typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 // TODO: this is also hardcoded in common/transformations/camera.py
 // TODO: choose based on frame input size
-const float y_offset = Hardware::TICI() ? 150.0 : 0.0;
-const float ZOOM = Hardware::TICI() ? 2912.8 : 2138.5;
+const float y_offset = Hardware::EON() ? 0.0 : 150.0;
+const float ZOOM = Hardware::EON() ? 2138.5 : 2912.8;
 
 typedef struct Rect {
   int x, y, w, h;