mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 08:14:00 +08:00
Code Issues Packages Projects Releases Wiki Activity

openpilot v0.7.1 release

Browse Source 
old-commit-hash: 8da8b6135c
This commit is contained in:
Vehicle Researcher
2020-01-15 14:05:04 -08:00
parent 92aa7e7c96
commit fa4b6f33d1
101 changed files with 3665 additions and 2619 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/transformations/camera.py
+8
View File
@@ -44,6 +44,7 @@ def get_calib_from_vp(vp):
roll_calib = 0
return roll_calib, pitch_calib, yaw_calib
# aka 'extrinsic_matrix'
# road : x->forward, y -> left, z->up
def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -61,6 +62,13 @@ def vp_from_ke(m):
"""
return (m[0, 0]/m[2,0], m[1,0]/m[2,0])
def vp_from_rpy(rpy):
e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
ke = np.dot(eon_intrinsics, e)
return vp_from_ke(ke)
def roll_from_ke(m):
# note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),