From 85dab89e1ce7a877e48ceb929866b150705bc9cd Mon Sep 17 00:00:00 2001 From: George Hotz Date: Tue, 27 Oct 2020 10:46:02 -0700 Subject: [PATCH] sbigmodel, a bigmodel with the size of a smallmodel --- common/transformations/model.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/common/transformations/model.py b/common/transformations/model.py index a3b46858..f4fb803e 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -65,6 +65,17 @@ bigmodel_intrinsics = np.array( [ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY], [ 0. , 0. , 1.]]) +# SBIG model (big model with the size of small model) + +SBIGMODEL_INPUT_SIZE = (512, 256) +SBIGMODEL_YUV_SIZE = (SBIGMODEL_INPUT_SIZE[0], SBIGMODEL_INPUT_SIZE[1] * 3 // 2) + +sbigmodel_zoom = 2. +sbigmodel_intrinsics = np.array( + [[ eon_focal_length / sbigmodel_zoom, 0. , 0.5 * SBIGMODEL_INPUT_SIZE[0]], + [ 0. , eon_focal_length / sbigmodel_zoom, 0.5 * (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))