spacecruft
/
nopenpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Camera transforms: denormalize with no bounds at all

pull/23436/head
Harald Schafer 2022-01-06 18:23:40 -08:00
parent ce998be706
commit dbef0a1cd4
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
common/transformations/camera.py
View File

@ -133,10 +133,12 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
img_pts = np.atleast_2d(img_pts)
img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0], 1), dtype=img_pts.dtype)))
img_pts_denormalized = img_pts.dot(intrinsics.T)
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
if np.isfinite(width):
img_pts_denormalized[img_pts_denormalized[:, 0] > width] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 0] < 0] = np.nan
if np.isfinite(height):
img_pts_denormalized[img_pts_denormalized[:, 1] > height] = np.nan
img_pts_denormalized[img_pts_denormalized[:, 1] < 0] = np.nan
return img_pts_denormalized[:, :2].reshape(input_shape)