mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 00:03:45 +08:00
Cleanup calibration code (#25119)
* First attempt * worksish * tests pass * cleanup * get rid of garbahe * fix name * Still used in xx * add debug functions * used * Revert "used" This reverts commit 276e8ebab06d2d4f0e9927ba32b7d8aca2bf88c3. * Update ref old-commit-hash: 772b748689cff4d6dc6aab6a8a20247b29a86056
This commit is contained in:
HaraldSchafer
@@ -77,6 +77,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
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return np.hstack((view_from_road, [[0], [height], [0]]))
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# aka 'extrinsic_matrix'
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def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
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device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
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@@ -94,12 +95,6 @@ def vp_from_ke(m):
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return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
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def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
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e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
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ke = np.dot(intrinsics, e)
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return vp_from_ke(ke)
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def roll_from_ke(m):
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# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
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return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
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@@ -163,11 +158,3 @@ def img_from_device(pt_device):
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pt_img = pt_view/pt_view[:, 2:3]
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return pt_img.reshape(input_shape)[:, :2]
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def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
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camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
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calib_frame_from_ground = np.dot(intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
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ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
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camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
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return camera_frame_from_calib_frame
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+54
-103
@@ -1,10 +1,7 @@
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import numpy as np
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from common.transformations.camera import (FULL_FRAME_SIZE,
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FOCAL,
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get_view_frame_from_road_frame,
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get_view_frame_from_calib_frame,
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vp_from_ke)
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get_view_frame_from_calib_frame)
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# segnet
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SEGNET_SIZE = (512, 384)
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@@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
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[0.0, float(segnet_size[1]) / full_frame_size[1]]])
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segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
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# model
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MODEL_INPUT_SIZE = (320, 160)
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MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
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MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
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MODEL_CY = 21.
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model_fl = 728.0
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model_height = 1.22
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# canonical model transform
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model_intrinsics = np.array([
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[model_fl, 0.0, MODEL_CX],
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[0.0, model_fl, MODEL_CY],
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[0.0, 0.0, 1.0]])
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# MED model
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MEDMODEL_INPUT_SIZE = (512, 256)
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@@ -63,104 +45,73 @@ sbigmodel_intrinsics = np.array([
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[0.0, sbigmodel_fl, 0.5 * (256 + MEDMODEL_CY)],
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[0.0, 0.0, 1.0]])
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model_frame_from_road_frame = np.dot(model_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, 0))
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sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, 0))
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medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
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get_view_frame_from_calib_frame(0, 0, 0, 0))
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model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
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medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
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# 'camera from model camera'
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def get_model_height_transform(camera_frame_from_road_frame, height):
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camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
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[1, 0, 0],
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[0, 1, 0],
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[0, 0, 0],
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[0, 0, 1],
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]))
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### This function mimics the update_calibration logic in modeld.cc
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### Manually verified to give similar results to xx.uncommon.utils.transform_img
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def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
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from common.transformations.orientation import rot_from_euler
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from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
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camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
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[1, 0, 0],
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[0, 1, 0],
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[0, 0, height - model_height],
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[0, 0, 1],
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]))
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road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
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high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
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return high_camera_from_low_camera
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# camera_frame_from_model_frame aka 'warp matrix'
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# was: calibration.h/CalibrationTransform
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def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
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vp = vp_from_ke(camera_frame_from_road_frame)
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model_zoom = camera_fl / model_fl
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model_camera_from_model_frame = np.array([
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[model_zoom, 0.0, vp[0] - MODEL_CX * model_zoom],
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[0.0, model_zoom, vp[1] - MODEL_CY * model_zoom],
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[0.0, 0.0, 1.0],
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])
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# This function is super slow, so skip it if height is very close to canonical
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# TODO: speed it up!
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if abs(height - model_height) > 0.001:
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camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
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if tici and wide_cam:
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intrinsics = tici_ecam_intrinsics
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elif tici:
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intrinsics = tici_fcam_intrinsics
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else:
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camera_from_model_camera = np.eye(3)
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intrinsics = eon_fcam_intrinsics
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return np.dot(camera_from_model_camera, model_camera_from_model_frame)
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def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
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camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
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medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
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ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
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camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
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return camera_frame_from_medmodel_frame
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def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
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camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
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bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
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ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
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camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
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return camera_frame_from_bigmodel_frame
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def get_model_frame(snu_full, camera_frame_from_model_frame, size):
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idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
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np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
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np.ones(size[0] * size[1])]).T).T.astype(int)
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calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
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if len(snu_full.shape) == 3:
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calib = calib_flat.reshape((size[1], size[0], 3))
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elif len(snu_full.shape) == 2:
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calib = calib_flat.reshape((size[1], size[0]))
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if big_model:
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sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
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calib_from_model = np.linalg.inv(sbigmodel_from_calib)
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else:
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raise ValueError("shape of input img is weird")
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return calib
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medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
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calib_from_model = np.linalg.inv(medmodel_from_calib)
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device_from_calib = rot_from_euler(rpy_calib)
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camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
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warp_matrix = camera_from_calib.dot(calib_from_model)
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return warp_matrix
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### This is old, just for debugging
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def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
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from common.transformations.orientation import rot_from_euler
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from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
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def get_view_frame_from_road_frame(roll, pitch, yaw, height):
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device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
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view_from_road = view_frame_from_device_frame.dot(device_from_road)
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return np.hstack((view_from_road, [[0], [height], [0]]))
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if tici and wide_cam:
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intrinsics = tici_ecam_intrinsics
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elif tici:
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intrinsics = tici_fcam_intrinsics
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else:
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intrinsics = eon_fcam_intrinsics
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model_height = 1.22
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if big_model:
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model_from_road = np.dot(sbigmodel_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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else:
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model_from_road = np.dot(medmodel_intrinsics,
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get_view_frame_from_road_frame(0, 0, 0, model_height))
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ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
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E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
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camera_frame_from_road_frame = intrinsics.dot(E)
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camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
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warp_matrix = camera_frame_from_ground .dot(ground_from_model)
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return warp_matrix
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