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who is ready for big model?

This commit is contained in:
George Hotz 2020-04-21 20:23:49 -07:00
parent 12af1f9175
commit 144b37728f
2 changed files with 11 additions and 13 deletions
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14
common/transformations/model.py
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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):

10
tools/replay/sensorium.py
View File

@ -2,14 +2,20 @@
# Question: Can a human drive from this data?
import os
import cv2
import numpy as np
import cereal.messaging as messaging
from common.window import Window
from common.transformations.model import MEDMODEL_INPUT_SIZE
if os.getenv("BIG") is not None:
from common.transformations.model import BIGMODEL_INPUT_SIZE as MEDMODEL_INPUT_SIZE
from common.transformations.model import get_camera_frame_from_bigmodel_frame as get_camera_frame_from_medmodel_frame
else:
from common.transformations.model import MEDMODEL_INPUT_SIZE
from common.transformations.model import get_camera_frame_from_medmodel_frame
from common.transformations.camera import FULL_FRAME_SIZE, eon_intrinsics
from common.transformations.model import get_camera_frame_from_medmodel_frame
from tools.replay.lib.ui_helpers import CalibrationTransformsForWarpMatrix
if __name__ == "__main__":