  
  #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.}};
  
  // without unwarp, focal length is for center portion only
  const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
                                             0.0, 620.0, 1208.0 / 2,
                                             0.0, 0.0, 1.0}};
 
</s> remove const float y_offset = Hardware::TICI() ? 150.0 : 0.0;
const float ZOOM = Hardware::TICI() ? 2912.8 : 2138.5;
 </s> add const float y_offset = (Hardware::TICI() || Hardware::PC()) ? 150.0 : 0.0;
const float ZOOM = (Hardware::TICI() || Hardware::PC()) ? 2912.8 : 2138.5; </s> remove   float db_s = Hardware::TICI() ? 1.0 : 0.5; // debayering does a 2x downscale on EON
 </s> add   float db_s = (Hardware::TICI() || Hardware::PC()) ? 1.0 : 0.5; // debayering does a 2x downscale on EON </s> remove // TODO: this is also hardcoded in common/transformations/camera.py
 </s> add 
    (Hardware::TICI() || Hardware::PC()) ?
      (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.}};
  
  #include "selfdrive/common/mat.h"
  #include "selfdrive/hardware/hw.h"
  const mat3 fcam_intrinsic_matrix =
    (Hardware::TICI() || Hardware::PC()) ?
      (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::TICI() || Hardware::PC()) ?
      (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::TICI() || Hardware::PC()) ?
      (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::TICI() || Hardware::PC()) ?
      (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::TICI() || Hardware::PC()) ?
      (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::TICI() || Hardware::PC()) ?
      (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.}};
  
  // without unwarp, focal length is for center portion only
  const mat3 ecam_intrinsic_matrix = (mat3){{620.0, 0.0, 1928.0 / 2,
                                             0.0, 620.0, 1208.0 / 2,
                                             0.0, 0.0, 1.0}};
keep keep keep keep replace replace replace replace replace replace keep keep keep keep keep
 ui: use C3 video sizes by default on PC 
selfdrive/common/modeldata.h