remove unused code
George Hotz
parent
35362965d6
commit
da5cb1842a
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@ -1,92 +0,0 @@
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import sys
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import json
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# pip2 install msgpack-python
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import msgpack
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import zlib
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import os
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import logging
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from Crypto.Cipher import AES
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ext = ".gz"
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SWAG = '\xde\xe2\x11\x15VVC\xf2\x8ep\xd7\xe4\x87\x8d,9'
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def compress_json(in_file, out_file):
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logging.debug("compressing %s -> %s", in_file, out_file)
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errors = 0
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good = []
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last_can_time = 0
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with open(in_file, 'r') as inf:
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for ln in inf:
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ln = ln.rstrip()
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if not ln: continue
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try:
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ll = json.loads(ln)
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except ValueError:
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errors += 1
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continue
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if ll is None or ll[0] is None:
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continue
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if ll[0][1] == 1:
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# no CAN in hex
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ll[1][2] = ll[1][2].decode("hex")
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# relativize the CAN timestamps
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this_can_time = ll[1][1]
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ll[1] = [ll[1][0], this_can_time - last_can_time, ll[1][2]]
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last_can_time = this_can_time
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good.append(ll)
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logging.debug("compressing %s -> %s, read done", in_file, out_file)
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data = msgpack.packb(good)
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data_compressed = zlib.compress(data)
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# zlib doesn't care about this
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data_compressed += "\x00" * (16 - len(data_compressed)%16)
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aes = AES.new(SWAG, AES.MODE_CBC, "\x00"*16)
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data_encrypted = aes.encrypt(data_compressed)
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with open(out_file, "wb") as outf:
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outf.write(data_encrypted)
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logging.debug("compressing %s -> %s, write done", in_file, out_file)
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return errors
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def decompress_json_internal(data_encrypted):
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aes = AES.new(SWAG, AES.MODE_CBC, "\x00"*16)
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data_compressed = aes.decrypt(data_encrypted)
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data = zlib.decompress(data_compressed)
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msgs = msgpack.unpackb(data)
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good = []
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last_can_time = 0
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for ll in msgs:
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if ll[0][1] == 1:
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# back into hex
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ll[1][2] = ll[1][2].encode("hex")
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# derelativize CAN timestamps
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last_can_time += ll[1][1]
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ll[1] = [ll[1][0], last_can_time, ll[1][2]]
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good.append(ll)
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return good
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def decompress_json(in_file, out_file):
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logging.debug("decompressing %s -> %s", in_file, out_file)
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f = open(in_file)
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data_encrypted = f.read()
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f.close()
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good = decompress_json_internal(data_encrypted)
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out = '\n'.join(map(lambda x: json.dumps(x), good)) + "\n"
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logging.debug("decompressing %s -> %s, writing", in_file, out_file)
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f = open(out_file, 'w')
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f.write(out)
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f.close()
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logging.debug("decompressing %s -> %s, write finished", in_file, out_file)
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if __name__ == "__main__":
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for dat in sys.argv[1:]:
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print(dat)
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compress_json(dat, "/tmp/out"+ext)
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decompress_json("/tmp/out"+ext, "/tmp/test")
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os.system("diff "+dat+" /tmp/test")
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@ -146,82 +146,3 @@ def pretransform_from_calib(calib):
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camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
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return np.linalg.inv(camera_frame_from_calib_frame)
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def transform_img_M(size,
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augment_trans=np.array([0,0,0]),
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augment_eulers=np.array([0,0,0]),
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from_intr=eon_intrinsics,
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to_intr=eon_intrinsics,
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pretransform=None):
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import cv2 # pylint: disable=import-error
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cy = from_intr[1,2]
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def get_M(h=1.22):
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quadrangle = np.array([[0, cy + 20],
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[size[1]-1, cy + 20],
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[0, size[0]-1],
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[size[1]-1, size[0]-1]], dtype=np.float32)
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quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
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quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
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h*np.ones(4),
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h/quadrangle_norm[:,1]))
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rot = orient.rot_from_euler(augment_eulers)
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to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
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to_KE = to_intr.dot(to_extrinsics)
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warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
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warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
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warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
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M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
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return M
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M = get_M()
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if pretransform is not None:
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M = M.dot(pretransform)
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return M
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def transform_img(base_img,
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augment_trans=np.array([0,0,0]),
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augment_eulers=np.array([0,0,0]),
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from_intr=eon_intrinsics,
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to_intr=eon_intrinsics,
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output_size=None,
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pretransform=None,
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yuv=False,
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alpha=1.0,
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beta=0,
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blur=0):
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import cv2 # pylint: disable=import-error
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cv2.setNumThreads(1)
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if yuv:
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base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
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size = base_img.shape[:2]
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if not output_size:
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output_size = size[::-1]
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M = transform_img_M(size, augment_trans, augment_eulers, from_intr, to_intr, pretransform)
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augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
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# brightness and contrast augment
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augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
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# gaussian blur
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if blur > 0:
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augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
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if yuv:
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augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
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else:
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augmented_img = augmented_rgb
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return augmented_img
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def yuv_crop(frame, output_size, center=None):
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# output_size in camera coordinates so u,v
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# center in array coordinates so row, column
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import cv2 # pylint: disable=import-error
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rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
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if not center:
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center = (rgb.shape[0]/2, rgb.shape[1]/2)
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rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
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center[1] - output_size[0]/2: center[1] + output_size[0]/2]
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return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
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