Mercurial > hg > nsaunier > traffic-intelligence

comparison trafficintelligence/cvutils.py @ 1205:3905b393ade0

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kitti loading code seems to be working
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Wed, 22 Mar 2023 23:29:09 -0400
parents 2f89dc3d99e5
children 4cd8ace3552f
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1204:a12d126346ff 1205:3905b393ade0
533 width = img.shape[1] 533 width = img.shape[1]
534 height = img.shape[0] 534 height = img.shape[0]
535 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients) 535 [map1, map2] = computeUndistortMaps(width, height, undistortedImageMultiplication, intrinsicCameraMatrix, distortionCoefficients)
536 return cv2.remap(img, map1, map2, interpolation=interpolation) 536 return cv2.remap(img, map1, map2, interpolation=interpolation)
537 537
538 def cartesian2Homogeneous(m):
539 'Transforms n x m matrix to n x (m+1) by adding last column of 1s'
540 homoM = ones((m.shape[0], m.shape[1]+1))
541 homoM[:,:-1] = m
542 return homoM
543
538 def homographyProject(points, homography, output3D = False): 544 def homographyProject(points, homography, output3D = False):
539 '''Returns the coordinates of the points (2xN array) projected through homography''' 545 '''Returns the coordinates of the points (2xN array) projected through homography'''
540 if points.shape[0] != 2: 546 if points.shape[0] != 2:
541 raise Exception('points of dimension {}'.format(points.shape)) 547 raise Exception('points of dimension {}'.format(points.shape))
542 548