openpilot v0.7.8 release

common/transformations/SConscript

@@ -1,9 +1,8 @@
-Import('env')
+Import('env', 'cython_dependencies')
 
 d = Dir('.')
 
-env.Command(
-  ['transformations.so'],
-  ['transformations.pxd', 'transformations.pyx',
-   'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
-  'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
+env.Command(['transformations.so'],
+            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
+             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
+            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')

common/transformations/camera.py

@@ -52,6 +52,13 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+# aka 'extrinsic_matrix'
+def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
+  device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
+  view_from_calib = view_frame_from_device_frame.dot(device_from_calib)
+  return np.hstack((view_from_calib, [[0], [height], [0]]))
+
+
 def vp_from_ke(m):
   """
   Computes the vanishing point from the product of the intrinsic and extrinsic

common/transformations/coordinates.cc

@@ -10,9 +10,9 @@
 #define RAD2DEG(x) ((x) * 180.0 / M_PI)
 
 
-double a = 6378137;
-double b = 6356752.3142;
-double esq = 6.69437999014 * 0.001;
+double a = 6378137; // lgtm [cpp/short-global-name]
+double b = 6356752.3142; // lgtm [cpp/short-global-name]
+double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
 double e1sq = 6.73949674228 * 0.001;
 
 

common/transformations/model.py

@@ -2,6 +2,7 @@ import numpy as np
 
 from common.transformations.camera import (FULL_FRAME_SIZE, eon_focal_length,
                                            get_view_frame_from_road_frame,
+                                           get_view_frame_from_calib_frame,
                                            vp_from_ke)
 
 # segnet
@@ -73,6 +74,9 @@ bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_road_frame(0, 0, 0, model_height))
 
+medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
+  get_view_frame_from_calib_frame(0, 0, 0, 0))
+
 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 

common/transformations/orientation.py

@@ -46,7 +46,6 @@ quats_from_rotations = rot2quat
 quat_from_rot = rot2quat
 rotations_from_quats = quat2rot
 rot_from_quat = quat2rot
-rot_from_quat = quat2rot
 euler_from_rot = rot2euler
 euler_from_quat = quat2euler
 rot_from_euler = euler2rot