openpilot v0.6 release

common/transformations/camera.py

@@ -1,6 +1,5 @@
 import numpy as np
 import common.transformations.orientation as orient
-import cv2
 import math
 
 FULL_FRAME_SIZE = (1164, 874)
@@ -126,6 +125,8 @@ def img_from_device(pt_device):
 
 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
+  import cv2
+
   size = img.shape[:2]
   rot = orient.rot_from_euler(eulers)
   quadrangle = np.array([[0, 0],
@@ -162,6 +163,8 @@ def transform_img(base_img,
                  output_size=None,
                  pretransform=None,
                  top_hacks=True):
+  import cv2
+
   size = base_img.shape[:2]
   if not output_size:
     output_size = size[::-1]
@@ -204,10 +207,10 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
   # output_size in camera coordinates so u,v
   # center in array coordinates so row, column
+  import cv2
   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)
-