Added sbigmodel frame transformations

old-commit-hash: 921656e9d7
3 years ago · c686a1adc8
parent 943ddb1d5d
commit c686a1adc8
1 changed files with 6 additions and 0 deletions
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@ -84,6 +84,12 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
  get_view_frame_from_calib_frame(0, 0, 0, 0))

+sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_road_frame(0, 0, 0, model_height))
+
+sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
  get_view_frame_from_road_frame(0, 0, 0, model_height))