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remove unused code

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old-commit-hash: da5cb1842ae4bd0f57dff9e0d0b9cd7e04aa09e3
This commit is contained in:
George Hotz
2020-04-24 08:58:18 -07:00
parent 5693055806
commit 676e0d5428
2 changed files with 0 additions and 171 deletions
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common/transformations/camera.py
-79
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@@ -146,82 +146,3 @@ def pretransform_from_calib(calib):
camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
return np.linalg.inv(camera_frame_from_calib_frame)
def transform_img_M(size,
augment_trans=np.array([0,0,0]),
augment_eulers=np.array([0,0,0]),
from_intr=eon_intrinsics,
to_intr=eon_intrinsics,
pretransform=None):
import cv2 # pylint: disable=import-error
cy = from_intr[1,2]
def get_M(h=1.22):
quadrangle = np.array([[0, cy + 20],
[size[1]-1, cy + 20],
[0, size[0]-1],
[size[1]-1, size[0]-1]], dtype=np.float32)
quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
h*np.ones(4),
h/quadrangle_norm[:,1]))
rot = orient.rot_from_euler(augment_eulers)
to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
to_KE = to_intr.dot(to_extrinsics)
warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
return M
M = get_M()
if pretransform is not None:
M = M.dot(pretransform)
return M
def transform_img(base_img,
augment_trans=np.array([0,0,0]),
augment_eulers=np.array([0,0,0]),
from_intr=eon_intrinsics,
to_intr=eon_intrinsics,
output_size=None,
pretransform=None,
yuv=False,
alpha=1.0,
beta=0,
blur=0):
import cv2 # pylint: disable=import-error
cv2.setNumThreads(1)
if yuv:
base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
size = base_img.shape[:2]
if not output_size:
output_size = size[::-1]
M = transform_img_M(size, augment_trans, augment_eulers, from_intr, to_intr, pretransform)
augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
# brightness and contrast augment
augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
# gaussian blur
if blur > 0:
augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
if yuv:
augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
else:
augmented_img = augmented_rgb
return augmented_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 # pylint: disable=import-error
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)