diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index e56a6f34bf..b406c33fd7 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+# aka 'extrinsic_matrix'
+def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
+  device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
+  view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
+  return np.hstack((view_from_calib, [[0], [height], [0]]))
+
+
 def vp_from_ke(m):
   """
   Computes the vanishing point from the product of the intrinsic and extrinsic
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 070d174711..221bebae69 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -2,6 +2,7 @@ import numpy as np
 
 from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
                                            get_view_frame_from_road_frame,
+                                           get_view_frame_from_calib_frame,
                                            vp_from_ke)
 
 # segnet
@@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
+medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_calib_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))