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openpilot v0.7.5 release

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Vehicle Researcher
2020-05-09 13:01:35 -07:00
parent 7e908db510
commit ddee718536
237 changed files with 16444 additions and 5626 deletions
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common/transformations/model.py
+3 -11
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@@ -44,24 +44,15 @@ medmodel_intrinsics = np.array(
# BIG model
BIGMODEL_INPUT_SIZE = (864, 288)
BIGMODEL_INPUT_SIZE = (1024, 512)
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
bigmodel_zoom = 1.
bigmodel_intrinsics = np.array(
[[ eon_focal_length / bigmodel_zoom, 0. , 0.5 * BIGMODEL_INPUT_SIZE[0]],
[ 0. , eon_focal_length / bigmodel_zoom, 0.2 * BIGMODEL_INPUT_SIZE[1]],
[ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY],
[ 0. , 0. , 1.]])
bigmodel_border = np.array([
[0,0,1],
[BIGMODEL_INPUT_SIZE[0], 0, 1],
[BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1], 1],
[0, BIGMODEL_INPUT_SIZE[1], 1],
])
model_frame_from_road_frame = np.dot(model_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))
@@ -72,6 +63,7 @@ medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_road_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):