needed in pipeline
parent
2e59349b2e
commit
e03f9d7c73
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@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
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return np.hstack((view_from_road, [[0], [height], [0]]))
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# aka 'extrinsic_matrix'
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def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
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device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
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view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
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return np.hstack((view_from_calib, [[0], [height], [0]]))
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def vp_from_ke(m):
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"""
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Computes the vanishing point from the product of the intrinsic and extrinsic
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@ -2,6 +2,7 @@ import numpy as np
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from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
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get_view_frame_from_road_frame,
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get_view_frame_from_calib_frame,
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vp_from_ke)
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# segnet
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@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
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medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, model_height))
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model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
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medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
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