    }
  
    bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
  
    // start calibration thread
    std::thread thread = std::thread(calibration_thread, wide_camera);
  
    // cl init
    cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
    cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
  
    // init the models
 
</s> remove     run_model(model, vipc_client);
 </s> add     run_model(model, vipc_client, wide_camera); </s> remove   Eigen::Matrix<float, 3, 3> ground_from_medmodel_frame;
  ground_from_medmodel_frame <<
 </s> add   static const auto ground_from_medmodel_frame = (Eigen::Matrix<float, 3, 3>() <<  </s> remove     transform_lock.lock();
    mat3 model_transform = cur_transform;
    bool valid = live_calib_seen;
    transform_lock.unlock();

 </s> add  </s> remove   Eigen::Matrix<float, 3, 3> cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
  const mat3 yuv_transform = get_model_yuv_transform();
 </s> add   static const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
  static const mat3 yuv_transform = get_model_yuv_transform();
    }
  
    bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
  



    // cl init
    cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
    cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
  
    // init the models
keep keep keep keep replace replace replace keep keep keep keep keep
 modeld: update live calibration in main thread (#23235)

* update live calibration in main thread

* static ground_from_medmodel_frame

* more static

* cleanup

* no lambda

* trigger ci 
selfdrive/modeld/modeld.cc