nexar_large_speed.py 文件源码

def rotate_ground(original, theta, horizon=60, half_height=360 / 2, focal=1.0):
        height, width, channel = original.shape
        # the target grids
        yp = range(height - horizon, height)
        xp = range(0, width)

        # from pixel to coordinates
        y0 = (np.array(yp) - half_height) * 1.0 / half_height
        x0 = (np.array(xp) - width / 2) / (width / 2.0)

        # form the mesh
        mesh = MyDataset.generate_meshlist(x0, y0)
        # compute the source coordinates
        st = math.sin(theta)
        ct = math.cos(theta)
        deno = ct * focal + st * mesh[:, 0]
        out = np.array([(-st * focal + ct * mesh[:, 0]) / deno, mesh[:, 1] / deno])

        # interpolate
        vout = []
        for i in range(3):
            f = interpolate.RectBivariateSpline(y0, x0, original[- horizon:, :, i])
            values = f(out[1, :], out[0, :], grid=False)
            vout.append(values)

        lower = np.reshape(vout, (3, width, horizon)).transpose((2, 1, 0)).astype("uint8")

        # compute the upper part
        out = np.reshape(out[0, :], (width, horizon))
        out = out[:, 0]
        f = interpolate.interp1d(x0, original[:-horizon, :, :], axis=1,
                                 fill_value=(original[:-horizon, 0, :], original[:-horizon, -1, :]),
                                 bounds_error=False)
        ans = f(out)
        ans = ans.astype("uint8")

        return np.concatenate((ans, lower), axis=0)