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openpilot v0.6.5 release

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This commit is contained in:
Vehicle Researcher
2019-10-09 18:43:53 +00:00
parent 3a04a69cbe
commit cf80f7a28b
242 changed files with 3840 additions and 2510 deletions
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common/transformations/camera.py
+6 -5
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@@ -125,7 +125,7 @@ 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
import cv2 # pylint: disable=no-name-in-module, import-error
size = img.shape[:2]
rot = orient.rot_from_euler(eulers)
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
if crop:
W_border = (size[1] - crop[0])/2
H_border = (size[0] - crop[1])/2
W_border = (size[1] - crop[0])//2
H_border = (size[0] - crop[1])//2
outside_crop = (((warped_quadrangle[:,0] < W_border) |
(warped_quadrangle[:,0] >= size[1] - W_border)) &
((warped_quadrangle[:,1] < H_border) |
@@ -183,7 +183,8 @@ def transform_img(base_img,
alpha=1.0,
beta=0,
blur=0):
import cv2
import cv2 # pylint: disable=no-name-in-module, import-error
cv2.setNumThreads(1)
if yuv:
base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
@@ -240,7 +241,7 @@ 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
import cv2 # pylint: disable=no-name-in-module, import-error
rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
if not center:
center = (rgb.shape[0]/2, rgb.shape[1]/2)