259 lines
9.5 KiB
Python
259 lines
9.5 KiB
Python
import numpy as np
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import common.transformations.orientation as orient
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import math
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FULL_FRAME_SIZE = (1164, 874)
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W, H = FULL_FRAME_SIZE[0], FULL_FRAME_SIZE[1]
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eon_focal_length = FOCAL = 910.0
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# aka 'K' aka camera_frame_from_view_frame
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eon_intrinsics = np.array([
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[FOCAL, 0., W/2.],
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[ 0., FOCAL, H/2.],
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[ 0., 0., 1.]])
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leon_dcam_intrinsics = np.array([
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[650, 0, 816//2],
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[ 0, 650, 612//2],
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[ 0, 0, 1]])
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eon_dcam_intrinsics = np.array([
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[860, 0, 1152//2],
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[ 0, 860, 864//2],
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[ 0, 0, 1]])
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# aka 'K_inv' aka view_frame_from_camera_frame
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eon_intrinsics_inv = np.linalg.inv(eon_intrinsics)
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# device/mesh : x->forward, y-> right, z->down
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# view : x->right, y->down, z->forward
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device_frame_from_view_frame = np.array([
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[ 0., 0., 1.],
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[ 1., 0., 0.],
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[ 0., 1., 0.]
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])
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view_frame_from_device_frame = device_frame_from_view_frame.T
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def get_calib_from_vp(vp):
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vp_norm = normalize(vp)
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yaw_calib = np.arctan(vp_norm[0])
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pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
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roll_calib = 0
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return roll_calib, pitch_calib, yaw_calib
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# aka 'extrinsic_matrix'
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# road : x->forward, y -> left, z->up
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def get_view_frame_from_road_frame(roll, pitch, yaw, height):
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device_from_road = orient.rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
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view_from_road = view_frame_from_device_frame.dot(device_from_road)
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return np.hstack((view_from_road, [[0], [height], [0]]))
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def vp_from_ke(m):
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"""
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Computes the vanishing point from the product of the intrinsic and extrinsic
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matrices C = KE.
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The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T
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"""
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return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
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def vp_from_rpy(rpy):
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e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
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ke = np.dot(eon_intrinsics, e)
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return vp_from_ke(ke)
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def roll_from_ke(m):
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# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
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return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
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-(m[0, 0] - m[0, 1] * m[2, 0] / m[2, 1]))
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def normalize(img_pts, intrinsics=eon_intrinsics):
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# normalizes image coordinates
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# accepts single pt or array of pts
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intrinsics_inv = np.linalg.inv(intrinsics)
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img_pts = np.array(img_pts)
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input_shape = img_pts.shape
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img_pts = np.atleast_2d(img_pts)
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img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
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img_pts_normalized = img_pts.dot(intrinsics_inv.T)
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img_pts_normalized[(img_pts < 0).any(axis=1)] = np.nan
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return img_pts_normalized[:,:2].reshape(input_shape)
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def denormalize(img_pts, intrinsics=eon_intrinsics):
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# denormalizes image coordinates
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# accepts single pt or array of pts
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img_pts = np.array(img_pts)
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input_shape = img_pts.shape
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img_pts = np.atleast_2d(img_pts)
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img_pts = np.hstack((img_pts, np.ones((img_pts.shape[0],1))))
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img_pts_denormalized = img_pts.dot(intrinsics.T)
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img_pts_denormalized[img_pts_denormalized[:,0] > W] = np.nan
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img_pts_denormalized[img_pts_denormalized[:,0] < 0] = np.nan
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img_pts_denormalized[img_pts_denormalized[:,1] > H] = np.nan
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img_pts_denormalized[img_pts_denormalized[:,1] < 0] = np.nan
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return img_pts_denormalized[:,:2].reshape(input_shape)
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def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
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# device from ecef frame
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# device frame is x -> forward, y-> right, z -> down
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# accepts single pt or array of pts
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input_shape = pt_ecef.shape
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pt_ecef = np.atleast_2d(pt_ecef)
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ecef_from_device_rot = orient.rotations_from_quats(orientation_ecef)
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device_from_ecef_rot = ecef_from_device_rot.T
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pt_ecef_rel = pt_ecef - pos_ecef
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pt_device = np.einsum('jk,ik->ij', device_from_ecef_rot, pt_ecef_rel)
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return pt_device.reshape(input_shape)
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def img_from_device(pt_device):
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# img coordinates from pts in device frame
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# first transforms to view frame, then to img coords
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# accepts single pt or array of pts
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input_shape = pt_device.shape
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pt_device = np.atleast_2d(pt_device)
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pt_view = np.einsum('jk,ik->ij', view_frame_from_device_frame, pt_device)
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# This function should never return negative depths
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pt_view[pt_view[:,2] < 0] = np.nan
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pt_img = pt_view/pt_view[:,2:3]
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return pt_img.reshape(input_shape)[:,:2]
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#TODO please use generic img transform below
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def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
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import cv2 # pylint: disable=import-error
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size = img.shape[:2]
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rot = orient.rot_from_euler(eulers)
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quadrangle = np.array([[0, 0],
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[size[1]-1, 0],
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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=intrinsics), np.ones((4,1))))
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warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
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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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if crop:
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W_border = (size[1] - crop[0])//2
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H_border = (size[0] - crop[1])//2
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outside_crop = (((warped_quadrangle[:,0] < W_border) |
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(warped_quadrangle[:,0] >= size[1] - W_border)) &
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((warped_quadrangle[:,1] < H_border) |
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(warped_quadrangle[:,1] >= size[0] - H_border)))
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if not outside_crop.all():
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raise ValueError("warped image not contained inside crop")
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else:
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H_border, W_border = 0, 0
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M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
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img_warped = cv2.warpPerspective(img, M, size[::-1])
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return img_warped[H_border: size[0] - H_border,
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W_border: size[1] - W_border]
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def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
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camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
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calib_frame_from_ground = np.dot(eon_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
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ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
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camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
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return camera_frame_from_calib_frame
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def pretransform_from_calib(calib):
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roll, pitch, yaw, height = calib
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view_frame_from_road_frame = get_view_frame_from_road_frame(roll, pitch, yaw, height)
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camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
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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(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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top_hacks=False,
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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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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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augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
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if top_hacks:
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cyy = int(math.ceil(to_intr[1,2]))
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M = get_M(1000)
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if pretransform is not None:
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M = M.dot(pretransform)
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augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), 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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