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modeld: use correct intrinsics for extra transform when wide camera disabled #38239

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modeld: use correct intrinsics for extra transform when wide camera disabled #38239

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3 changes: 2 additions & 1 deletion openpilot/selfdrive/modeld/modeld.py
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Expand Up @@ -253,7 +253,8 @@ def main(demo=False):
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
has_wide_camera = use_extra_client or main_wide_camera
model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if has_wide_camera else dc.fcam.intrinsics, True).astype(np.float32)
live_calib_seen = True

traffic_convention = np.zeros(2)
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