def ipm_from_parameters(image, xyz, K, RT, interpolation_fn):
# Flip y points positive upwards
xyz[1] = -xyz[1]
P = K @ RT
pixel_coords = perspective(xyz, P, TARGET_H, TARGET_W)
image2 = interpolation_fn(image, pixel_coords)
return image2.astype(np.uint8)
def getMVP( self ):
width, height = self.GetGLExtents()
MVP = perspective(45.0, width / height, self.near_plane, self.far_plane);
MVP = translate( MVP, self.world_pos[0], self.world_pos[1], self.world_pos[2] )
MVP = rotate( MVP, self.world_rot[1], 0, 1, 0 )
MVP = rotate( MVP, self.world_rot[0], 1, 0, 0 )
return (1, True, MVP)
def main_first(self, img):
height = img.shape[0]
warped, _ = utils.perspective(utils.undistort(img, self.objpoints, self.imgpoints))
warped_edge = utils.edge(warped)
left_base, right_base = utils.base(warped_edge)
left_fit, _ = utils.fit_first(warped_edge, left_base)
right_fit, _ = utils.fit_first(warped_edge, right_base)
return left_fit, right_fit
def ipm_from_parameters(image, xyz, K, RT):
P = K @ RT
print('K.shape', K.shape)
print('RT.shape', RT.shape)
print('P.shape', P.shape)
pixel_coords = perspective(xyz, P, TARGET_H, TARGET_W)
print('pixel_coords.shape', pixel_coords.shape)
print('pixel_coords[0,0]', pixel_coords[250, 250])
image2 = bilinear_sampler(image, pixel_coords)
return image2.astype(np.uint8)
def main_rest(self, img, prev_left_fit, prev_right_fit):
height = img.shape[0]
width = img.shape[1]
warped, M = utils.perspective(utils.undistort(img, self.objpoints, self.imgpoints))
warped_edge = utils.edge(warped)
left_base, right_base = utils.base(warped_edge)
left_fit, left_fit_m = utils.fit_rest(warped_edge, prev_left_fit)
right_fit, right_fit_m = utils.fit_rest(warped_edge, prev_right_fit)
curv = utils.curvature(left_fit_m, right_fit_m, height)
shif = utils.shift(left_fit_m, right_fit_m, height, width)
return left_fit, right_fit, curv, shif, M
def test_perspective():
extrinsic, intrinsic = load_camera_params('camera.json')
P = intrinsic @ extrinsic
plane = Plane(
0,
-1,
0, # x, y, z
0,
0,
0, # roll, pitch, yaw
3,
3,
2) # col, row, scale
print(perspective(plane.xyz, P, 3, 3))
def ipm_from_parameters(image, xyz, K, RT):
P = K @ RT
pixel_coords = perspective(xyz, P, TARGET_H, TARGET_W)
image2 = bilinear_sampler(image, pixel_coords)
return image2.astype(np.uint8)
