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
# segnet
SEGNET_SIZE = (512, 384)
# MED model
MEDMODEL_INPUT_SIZE = (512, 256)
MEDMODEL_YUV_SIZE = (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1] * 3 // 2)
MEDMODEL_CY = 47.6
medmodel_fl = 910.0
medmodel_intrinsics = np.array([
[medmodel_fl, 0.0, 0.5 * MEDMODEL_INPUT_SIZE[0]],
[0.0, medmodel_fl, MEDMODEL_CY],
[0.0, 0.0, 1.0]])
# BIG model
BIGMODEL_INPUT_SIZE = (1024, 512)
BIGMODEL_YUV_SIZE = (BIGMODEL_INPUT_SIZE[0], BIGMODEL_INPUT_SIZE[1] * 3 // 2)
bigmodel_fl = 910.0
bigmodel_intrinsics = np.array([
[bigmodel_fl, 0.0, 0.5 * BIGMODEL_INPUT_SIZE[0]],
[0.0, bigmodel_fl, 256 + MEDMODEL_CY],
[0.0, 0.0, 1.0]])
# 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_fl = 455.0
sbigmodel_intrinsics = np.array([
[sbigmodel_fl, 0.0, 0.5 * SBIGMODEL_INPUT_SIZE[0]],
[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
[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))
sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
get_view_frame_from_calib_frame(0, 0, 0, 0))
medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
get_view_frame_from_calib_frame(0, 0, 0, 0))
medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
calib_from_medmodel = np.linalg.inv(medmodel_frame_from_calib_frame[:, :3])
calib_from_sbigmodel = np.linalg.inv(sbigmodel_frame_from_calib_frame[:, :3])
# This function is verified to give similar results to xx.uncommon.utils.transform_img
[docs]
def get_warp_matrix(device_from_calib_euler: np.ndarray, intrinsics: np.ndarray, bigmodel_frame: bool = False) -> np.ndarray:
calib_from_model = calib_from_sbigmodel if bigmodel_frame else calib_from_medmodel
device_from_calib = rot_from_euler(device_from_calib_euler)
camera_from_calib = intrinsics @ view_frame_from_device_frame @ device_from_calib
warp_matrix: np.ndarray = camera_from_calib @ calib_from_model
return warp_matrix