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openpilot v0.5.12 release

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old-commit-hash: 3f9059fea8
This commit is contained in:
Vehicle Researcher
2019-05-16 13:20:29 -07:00
parent d34a9b934c
commit 0932b367bd
177 changed files with 2910 additions and 827 deletions
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common/transformations/camera.py
+11
View File
@@ -200,3 +200,14 @@ def transform_img(base_img,
augmented_rgb[:cyy] = cv2.warpPerspective(base_img, M, (output_size[0], cyy), borderMode=cv2.BORDER_REPLICATE)
return augmented_rgb
def yuv_crop(frame, output_size, center=None):
# output_size in camera coordinates so u,v
# center in array coordinates so row, column
rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
if not center:
center = (rgb.shape[0]/2, rgb.shape[1]/2)
rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
center[1] - output_size[0]/2: center[1] + output_size[0]/2]
return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)
common/transformations/model.py
+11 -2
View File
@@ -1,8 +1,7 @@
import numpy as np
from common.transformations.camera import eon_focal_length, \
vp_from_ke, \
get_view_frame_from_road_frame, \
vp_from_ke, get_view_frame_from_road_frame, \
FULL_FRAME_SIZE
# segnet
@@ -117,6 +116,16 @@ def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model
return np.dot(camera_from_model_camera, model_camera_from_model_frame)
def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
return camera_frame_from_medmodel_frame
def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]