bigmodel_intrinsics = np.array( [[eon_focal_length / bigmodel_zoom, 0., 0.5 * BIGMODEL_INPUT_SIZE[0]], [0., eon_focal_length / bigmodel_zoom, 256 + MEDMODEL_CY], [0., 0., 1.]]) model_frame_from_road_frame = np.dot( model_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) bigmodel_frame_from_road_frame = np.dot( bigmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) medmodel_frame_from_road_frame = np.dot( medmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) medmodel_frame_from_calib_frame = np.dot( medmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, model_height)) model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics)) medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) # 'camera from model camera' def get_model_height_transform(camera_frame_from_road_frame, height): camera_frame_from_road_ground = np.dot( camera_frame_from_road_frame, np.array([ [1, 0, 0], [0, 1, 0], [0, 0, 0],
def __init__(self, num_px, rpy, intrinsic): self.intrinsic = intrinsic self.extrinsics_matrix = get_view_frame_from_calib_frame( rpy[0], rpy[1], rpy[2], 0.0)[:, :3] self.zoom = _BB_TO_FULL_FRAME[num_px][0, 0]
SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2) sbigmodel_fl = 455.0 sbigmodel_intrinsics = np.array( [[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]], [0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)], [0.0, 0.0, 1.0]]) model_frame_from_road_frame = np.dot( model_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) bigmodel_frame_from_road_frame = np.dot( bigmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) bigmodel_frame_from_calib_frame = np.dot( bigmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) sbigmodel_frame_from_road_frame = np.dot( sbigmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) sbigmodel_frame_from_calib_frame = np.dot( sbigmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) medmodel_frame_from_road_frame = np.dot( medmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) medmodel_frame_from_calib_frame = np.dot( medmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) model_frame_from_bigmodel_frame = np.dot(model_intrinsics,
sbigmodel_intrinsics = np.array([ [sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]], [0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)], [0.0, 0.0, 1.0]]) model_frame_from_road_frame = np.dot(model_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics, get_view_frame_from_road_frame(0, 0, 0, model_height)) medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics, get_view_frame_from_calib_frame(0, 0, 0, 0)) model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics)) medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics)) # 'camera from model camera' def get_model_height_transform(camera_frame_from_road_frame, height): camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([ [1, 0, 0], [0, 1, 0], [0, 0, 0], [0, 0, 1], ])) camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([