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sbigmodel, a bigmodel with the size of a smallmodel

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old-commit-hash: 85dab89e1ce7a877e48ceb929866b150705bc9cd
This commit is contained in:
George Hotz
2020-10-27 10:46:02 -07:00
parent 48e5211f23
commit 87fecbdaef
1 changed files with 11 additions and 0 deletions
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common/transformations/model.py
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@@ -65,6 +65,17 @@ bigmodel_intrinsics = np.array(
[ 0. , eon_focal_length / bigmodel_zoom, 256+MEDMODEL_CY],
[ 0. , 0. , 1.]])
# 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_zoom = 2.
sbigmodel_intrinsics = np.array(
[[ eon_focal_length / sbigmodel_zoom, 0. , 0.5 * SBIGMODEL_INPUT_SIZE[0]],
[ 0. , eon_focal_length / sbigmodel_zoom, 0.5 * (256+MEDMODEL_CY)],
[ 0. , 0. , 1.]])
model_frame_from_road_frame = np.dot(model_intrinsics,
get_view_frame_from_road_frame(0, 0, 0, model_height))