common.transformations package

Submodules

common.transformations.camera module

common.transformations.camera.denormalize(img_pts, intrinsics=array([[2.648e+03, 0.000e+00, 9.640e+02], [0.000e+00, 2.648e+03, 6.040e+02], [0.000e+00, 0.000e+00, 1.000e+00]]), width=inf, height=inf)[source]
common.transformations.camera.device_from_ecef(pos_ecef, orientation_ecef, pt_ecef)[source]
common.transformations.camera.get_calib_from_vp(vp)[source]
common.transformations.camera.get_view_frame_from_calib_frame(roll, pitch, yaw, height)[source]
common.transformations.camera.get_view_frame_from_road_frame(roll, pitch, yaw, height)[source]
common.transformations.camera.img_from_device(pt_device)[source]
common.transformations.camera.normalize(img_pts, intrinsics=array([[2.648e+03, 0.000e+00, 9.640e+02], [0.000e+00, 2.648e+03, 6.040e+02], [0.000e+00, 0.000e+00, 1.000e+00]]))[source]
common.transformations.camera.roll_from_ke(m)[source]
common.transformations.camera.vp_from_ke(m)[source]

Computes the vanishing point from the product of the intrinsic and extrinsic matrices C = KE.

The vanishing point is defined as lim x->infinity C (x, 0, 0, 1).T

common.transformations.coordinates module

class common.transformations.coordinates.LocalCoord[source]

Bases: LocalCoord

ecef2ned()
geodetic2ned()
ned2ecef()
ned2geodetic()

common.transformations.model module

common.transformations.model.get_segnet_frame_from_camera_frame(segnet_size=(512, 384), full_frame_size=(1928, 1208))[source]
common.transformations.model.get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True)[source]
common.transformations.model.get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True)[source]

common.transformations.orientation module

common.transformations.orientation.ecef_euler_from_ned(*inps)
common.transformations.orientation.euler2quat(*inps)
common.transformations.orientation.euler2rot(*inps)
common.transformations.orientation.euler_from_quat(*inps)
common.transformations.orientation.euler_from_rot(*inps)
common.transformations.orientation.ned_euler_from_ecef(*inps)
common.transformations.orientation.numpy_wrap(function, input_shape, output_shape) Callable[[...], ndarray][source]

Wrap a function to take either an input or list of inputs and return the correct shape

common.transformations.orientation.quat2euler(*inps)
common.transformations.orientation.quat2rot(*inps)
common.transformations.orientation.quat_from_euler(*inps)
common.transformations.orientation.quat_from_rot(*inps)
common.transformations.orientation.quats_from_rotations(*inps)
common.transformations.orientation.rot2euler(*inps)
common.transformations.orientation.rot2quat(*inps)
common.transformations.orientation.rot_from_euler(*inps)
common.transformations.orientation.rot_from_quat(*inps)
common.transformations.orientation.rotations_from_quats(*inps)

common.transformations.transformations module

class common.transformations.transformations.LocalCoord

Bases: object

ecef2ned_matrix
ecef2ned_single()
ecef_from_ned_matrix
from_ecef()
from_geodetic()
geodetic2ned_single()
ned2ecef_matrix
ned2ecef_single()
ned2geodetic_single()
ned_from_ecef_matrix
common.transformations.transformations.ecef2geodetic_single()
common.transformations.transformations.ecef_euler_from_ned_single()
common.transformations.transformations.euler2quat_single()
common.transformations.transformations.euler2rot_single()
common.transformations.transformations.geodetic2ecef_single()
common.transformations.transformations.ned_euler_from_ecef_single()
common.transformations.transformations.quat2euler_single()
common.transformations.transformations.quat2rot_single()
common.transformations.transformations.rot2euler_single()
common.transformations.transformations.rot2quat_single()
common.transformations.transformations.rot_matrix()

Module contents