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Save one inverse call in building transformation matrix (#384)

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dekerr
2018-10-08 15:02:20 -04:00
committed by Willem Melching
parent 8cc32df779
commit 0a99fe3baa
1 changed files with 2 additions and 4 deletions
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6
common/transformations/model.py
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@@ -75,10 +75,8 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
[0, 0, 1],
]))
ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
return high_camera_from_low_camera