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- import numpy as np
- from openpilot.common.transformations.orientation import rot_from_euler
- from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame
- # segnet
- SEGNET_SIZE = (512, 384)
- # MED model
- MEDMODEL_INPUT_SIZE = (512, 256)
- MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
- MEDMODEL_CY = 47.6
- medmodel_fl = 910.0
- medmodel_intrinsics = np.array([
- [medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
- [0.0, medmodel_fl, MEDMODEL_CY],
- [0.0, 0.0, 1.0]])
- # BIG model
- BIGMODEL_INPUT_SIZE = (1024, 512)
- BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
- bigmodel_fl = 910.0
- bigmodel_intrinsics = np.array([
- [bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
- [0.0, bigmodel_fl, 256 + MEDMODEL_CY],
- [0.0, 0.0, 1.0]])
- # 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_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]])
- bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
- get_view_frame_from_calib_frame(0, 0, 0, 0))
- sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
- get_view_frame_from_calib_frame(0, 0, 0, 0))
- medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
- get_view_frame_from_calib_frame(0, 0, 0, 0))
- medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
- calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
- calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
- # This function is verified to give similar results to xx.uncommon.utils.transform_img
- def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
- calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
- device_from_calib = rot_from_euler(device_from_calib_euler)
- camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
- warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
- return warp_matrix
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