Save one inverse call in building transformation matrix (commaai#384)

emmertex · Oct 23, 2018 · 6efd33f · 6efd33f
1 parent 305f218
commit 6efd33f
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/common/transformations/model.py b/common/transformations/model.py
@@ -75,10 +75,8 @@ def get_model_height_transform(camera_frame_from_road_frame, height):
       [0, 0, 1],
   ]))
 
-  ground_from_camera_frame = np.linalg.inv(camera_frame_from_road_ground)
-
-  low_camera_from_high_camera = np.dot(camera_frame_from_road_high, ground_from_camera_frame)
-  high_camera_from_low_camera = np.linalg.inv(low_camera_from_high_camera)
+  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
+  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
 
   return high_camera_from_low_camera