def random_equi_rotation(image, gt_image):
yaw = 2 * np.pi * random.random()
roll = 2 * np.pi * (random.random() - 0.5) * 0.1
pitch = 2 * np.pi * (random.random() - 0.5) * 0.1
rotation_angles = np.array([yaw, roll, pitch])
image_res = np.zeros(image.shape)
gtimage_res = np.zeros(gt_image.shape)
extractEquirectangular_quick(
True, image, image_res, Algebra.rotation_matrix(rotation_angles))
extractEquirectangular_quick(
True, gt_image, gtimage_res, Algebra.rotation_matrix(rotation_angles))
gtimage_res = (gtimage_res + 0.1).astype(np.int32)
if DEBUG:
if not np.all(np.unique(gtimage_res) == np.unique(gt_image)):
logging.warning("np.unique(gt_image ) {}".format(
np.unique(gt_image)))
logging.warning("np.unique(gt_image_res) {}".format(
np.unique(gtimage_res)))
for i in np.unique(gtimage_res):
if i == 255:
continue
else:
if i not in np.unique(gt_image):
logging.error("Equirectangular removed classes.")
assert i in np.unique(gt_image)
return image_res, gtimage_res
def extractEquirectangular(wrap, source_image, result_image, euler_angles):
extractEquirectangular_quick(wrap, source_image, result_image,
Algebra.rotation_matrix(euler_angles))