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dmonitoringmodeld: use cl transform (#34235)

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* needs cleanup

* only if tici

* bump tinygrad

* check width

* base modelframe

* .

* need to be args

* more cleanup

* no _frame in base

* tici only

* its DrivingModelFrame

* .6 is fair

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616
2024-12-14 00:44:15 -08:00
committed by GitHub
parent b3ad7ef24b
commit 684b0b9d4d
9 changed files with 165 additions and 62 deletions
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common/transformations/model.py
+8 -1
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@@ -1,7 +1,7 @@
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
from openpilot.common.transformations.camera import get_view_frame_from_calib_frame, view_frame_from_device_frame, _ar_ox_fisheye
# segnet
SEGNET_SIZE = (512, 384)
@@ -39,6 +39,13 @@ sbigmodel_intrinsics = np.array([
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
[0.0, 0.0, 1.0]])
DM_INPUT_SIZE = (1440, 960)
dmonitoringmodel_fl = _ar_ox_fisheye.focal_length
dmonitoringmodel_intrinsics = np.array([
[dmonitoringmodel_fl, 0.0, DM_INPUT_SIZE[0]/2],
[0.0, dmonitoringmodel_fl, DM_INPUT_SIZE[1]/2 - (_ar_ox_fisheye.height - DM_INPUT_SIZE[1])/2],
[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))