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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
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@@ -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)