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66 lines
2.5 KiB
66 lines
2.5 KiB
#pragma once
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#include <array>
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const int TRAJECTORY_SIZE = 33;
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const int LAT_MPC_N = 16;
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const int LON_MPC_N = 32;
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const float MIN_DRAW_DISTANCE = 10.0;
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const float MAX_DRAW_DISTANCE = 100.0;
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template<typename T_SRC, typename T_DST, size_t size>
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const std::array<T_DST, size> convert_array_to_type(const std::array<T_SRC, size> &src) {
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std::array<T_DST, size> dst = {};
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for (int i=0; i<size; i++) {
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dst[i] = src[i];
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}
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return dst;
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}
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const std::array<double, TRAJECTORY_SIZE> T_IDXS = {
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0. , 0.00976562, 0.0390625 , 0.08789062, 0.15625 ,
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0.24414062, 0.3515625 , 0.47851562, 0.625 , 0.79101562,
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0.9765625 , 1.18164062, 1.40625 , 1.65039062, 1.9140625 ,
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2.19726562, 2.5 , 2.82226562, 3.1640625 , 3.52539062,
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3.90625 , 4.30664062, 4.7265625 , 5.16601562, 5.625 ,
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6.10351562, 6.6015625 , 7.11914062, 7.65625 , 8.21289062,
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8.7890625 , 9.38476562, 10.};
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const auto T_IDXS_FLOAT = convert_array_to_type<double, float, TRAJECTORY_SIZE>(T_IDXS);
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const std::array<double, TRAJECTORY_SIZE> X_IDXS = {
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0. , 0.1875, 0.75 , 1.6875, 3. , 4.6875,
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6.75 , 9.1875, 12. , 15.1875, 18.75 , 22.6875,
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27. , 31.6875, 36.75 , 42.1875, 48. , 54.1875,
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60.75 , 67.6875, 75. , 82.6875, 90.75 , 99.1875,
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108. , 117.1875, 126.75 , 136.6875, 147. , 157.6875,
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168.75 , 180.1875, 192.};
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const auto X_IDXS_FLOAT = convert_array_to_type<double, float, TRAJECTORY_SIZE>(X_IDXS);
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#ifdef __cplusplus
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#include "selfdrive/common/mat.h"
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#include "selfdrive/hardware/hw.h"
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const mat3 fcam_intrinsic_matrix =
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Hardware::EON() ? (mat3){{910., 0., 1164.0 / 2,
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0., 910., 874.0 / 2,
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0., 0., 1.}}
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: (mat3){{2648.0, 0.0, 1928.0 / 2,
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0.0, 2648.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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// without unwarp, focal length is for center portion only
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const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
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0.0, 620.0, 1208.0 / 2,
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0.0, 0.0, 1.0}};
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static inline mat3 get_model_yuv_transform(bool bayer = true) {
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float db_s = Hardware::EON() ? 0.5 : 1.0; // debayering does a 2x downscale on EON
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const mat3 transform = (mat3){{
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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}};
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return bayer ? transform_scale_buffer(transform, db_s) : transform;
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}
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#endif
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