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deprecated

pull/965/head
Harald Schafer 2020-01-17 16:24:40 -08:00
parent f3c1992b10
commit e4472d0d46
1 changed files with 0 additions and 31 deletions
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31
common/transformations/camera.py
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@ -131,37 +131,6 @@ def img_from_device(pt_device):
return pt_img.reshape(input_shape)[:,:2]
#TODO please use generic img transform below
def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
import cv2 # pylint: disable=import-error
size = img.shape[:2]
rot = orient.rot_from_euler(eulers)
quadrangle = np.array([[0, 0],
[size[1]-1, 0],
[0, size[0]-1],
[size[1]-1, size[0]-1]], dtype=np.float32)
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
if crop:
W_border = (size[1] - crop[0])//2
H_border = (size[0] - crop[1])//2
outside_crop = (((warped_quadrangle[:,0] < W_border) |
(warped_quadrangle[:,0] >= size[1] - W_border)) &
((warped_quadrangle[:,1] < H_border) |
(warped_quadrangle[:,1] >= size[0] - H_border)))
if not outside_crop.all():
raise ValueError("warped image not contained inside crop")
else:
H_border, W_border = 0, 0
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
img_warped = cv2.warpPerspective(img, M, size[::-1])
return img_warped[H_border: size[0] - H_border,
W_border: size[1] - W_border]
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
calib_frame_from_ground = np.dot(eon_intrinsics,