{
  "id": 123386,
  "title": "Encorporate YpR in image coordinates",
  "url": "/competitions/pku-autonomous-driving/discussion/123386",
  "author_name": "Jaideep",
  "post_date": "2019-12-27T09:14:56.854000",
  "votes": 0,
  "comment_count": 0,
  "views": 0,
  "content": "<p>How can we build Xs,Ys taking into account YPR values\nbelow just takes x,y,z .Can we simply use euler one. </p>\n\n<p>Does it helps in building score.</p>\n\n<p><code>\ndef get_img_coords(s):\n    '''\n    Input is a PredictionString (e.g. from train dataframe)\n    Output is two arrays:\n        xs: x coordinates in the image\n        ys: y coordinates in the image\n    '''\n    coords = str2coords(s)\n    xs = [c['x'] for c in coords]\n    ys = [c['y'] for c in coords]\n    zs = [c['z'] for c in coords]\n    P = np.array(list(zip(xs, ys, zs))).T\n    img_p = np.dot(camera_matrix, P).T\n    img_p[:, 0] /= img_p[:, 2]\n    img_p[:, 1] /= img_p[:, 2]\n    img_xs = img_p[:, 0]\n    img_ys = img_p[:, 1]\n    return img_xs, img_ys\n</code></p>\n\n<p>```\nx, y, z = float(point[4]), float(point[5]), float(point[6])\n        yaw, pitch, roll = -float(point[1]), -float(point[2]), -float(point[3])\n        # Math\n        Rt = np.eye(4)\n        t = np.array([x, y, z])\n        Rt[:3, 3] = t\n        Rt[:3, :3] = euler_to_Rot(yaw, pitch, roll).T\n        Rt = Rt[:3, :]\n        P = np.array([[x_l, -y_l, -z_l, 1],\n                      [x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, -z_l, 1],\n                      [0, 0, 0, 1]]).T\n        img_cor_points = np.dot(camera_matrix, np.dot(Rt, P))\n        img_cor_points = img_cor_points.T\n        img_cor_points[:, 0] /= img_cor_points[:, 2]\n        img_cor_points[:, 1] /= img_cor_points[:, 2]\n        img_cor_points = img_cor_points.astype(int)</p>\n\n<p>```</p>",
  "messages": [
    {
      "id": 704284,
      "postDate": "2019-12-27T09:14:56.853Z",
      "content": "<p>How can we build Xs,Ys taking into account YPR values\nbelow just takes x,y,z .Can we simply use euler one. </p>\n\n<p>Does it helps in building score.</p>\n\n<p><code>\ndef get_img_coords(s):\n    '''\n    Input is a PredictionString (e.g. from train dataframe)\n    Output is two arrays:\n        xs: x coordinates in the image\n        ys: y coordinates in the image\n    '''\n    coords = str2coords(s)\n    xs = [c['x'] for c in coords]\n    ys = [c['y'] for c in coords]\n    zs = [c['z'] for c in coords]\n    P = np.array(list(zip(xs, ys, zs))).T\n    img_p = np.dot(camera_matrix, P).T\n    img_p[:, 0] /= img_p[:, 2]\n    img_p[:, 1] /= img_p[:, 2]\n    img_xs = img_p[:, 0]\n    img_ys = img_p[:, 1]\n    return img_xs, img_ys\n</code></p>\n\n<p>```\nx, y, z = float(point[4]), float(point[5]), float(point[6])\n        yaw, pitch, roll = -float(point[1]), -float(point[2]), -float(point[3])\n        # Math\n        Rt = np.eye(4)\n        t = np.array([x, y, z])\n        Rt[:3, 3] = t\n        Rt[:3, :3] = euler_to_Rot(yaw, pitch, roll).T\n        Rt = Rt[:3, :]\n        P = np.array([[x_l, -y_l, -z_l, 1],\n                      [x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, -z_l, 1],\n                      [0, 0, 0, 1]]).T\n        img_cor_points = np.dot(camera_matrix, np.dot(Rt, P))\n        img_cor_points = img_cor_points.T\n        img_cor_points[:, 0] /= img_cor_points[:, 2]\n        img_cor_points[:, 1] /= img_cor_points[:, 2]\n        img_cor_points = img_cor_points.astype(int)</p>\n\n<p>```</p>",
      "rawMarkdown": "How can we build Xs,Ys taking into account YPR values\nbelow just takes x,y,z .Can we simply use euler one. \n\nDoes it helps in building score.\n\n\n```\ndef get_img_coords(s):\n    '''\n    Input is a PredictionString (e.g. from train dataframe)\n    Output is two arrays:\n        xs: x coordinates in the image\n        ys: y coordinates in the image\n    '''\n    coords = str2coords(s)\n    xs = [c['x'] for c in coords]\n    ys = [c['y'] for c in coords]\n    zs = [c['z'] for c in coords]\n    P = np.array(list(zip(xs, ys, zs))).T\n    img_p = np.dot(camera_matrix, P).T\n    img_p[:, 0] /= img_p[:, 2]\n    img_p[:, 1] /= img_p[:, 2]\n    img_xs = img_p[:, 0]\n    img_ys = img_p[:, 1]\n    return img_xs, img_ys\n```\n\n\n```\nx, y, z = float(point[4]), float(point[5]), float(point[6])\n        yaw, pitch, roll = -float(point[1]), -float(point[2]), -float(point[3])\n        # Math\n        Rt = np.eye(4)\n        t = np.array([x, y, z])\n        Rt[:3, 3] = t\n        Rt[:3, :3] = euler_to_Rot(yaw, pitch, roll).T\n        Rt = Rt[:3, :]\n        P = np.array([[x_l, -y_l, -z_l, 1],\n                      [x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, -z_l, 1],\n                      [0, 0, 0, 1]]).T\n        img_cor_points = np.dot(camera_matrix, np.dot(Rt, P))\n        img_cor_points = img_cor_points.T\n        img_cor_points[:, 0] /= img_cor_points[:, 2]\n        img_cor_points[:, 1] /= img_cor_points[:, 2]\n        img_cor_points = img_cor_points.astype(int)\n\n```"
    }
  ],
  "comments": [],
  "raw_markdown_by_id": {
    "704284": "How can we build Xs,Ys taking into account YPR values\nbelow just takes x,y,z .Can we simply use euler one. \n\nDoes it helps in building score.\n\n\n```\ndef get_img_coords(s):\n    '''\n    Input is a PredictionString (e.g. from train dataframe)\n    Output is two arrays:\n        xs: x coordinates in the image\n        ys: y coordinates in the image\n    '''\n    coords = str2coords(s)\n    xs = [c['x'] for c in coords]\n    ys = [c['y'] for c in coords]\n    zs = [c['z'] for c in coords]\n    P = np.array(list(zip(xs, ys, zs))).T\n    img_p = np.dot(camera_matrix, P).T\n    img_p[:, 0] /= img_p[:, 2]\n    img_p[:, 1] /= img_p[:, 2]\n    img_xs = img_p[:, 0]\n    img_ys = img_p[:, 1]\n    return img_xs, img_ys\n```\n\n\n```\nx, y, z = float(point[4]), float(point[5]), float(point[6])\n        yaw, pitch, roll = -float(point[1]), -float(point[2]), -float(point[3])\n        # Math\n        Rt = np.eye(4)\n        t = np.array([x, y, z])\n        Rt[:3, 3] = t\n        Rt[:3, :3] = euler_to_Rot(yaw, pitch, roll).T\n        Rt = Rt[:3, :]\n        P = np.array([[x_l, -y_l, -z_l, 1],\n                      [x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, z_l, 1],\n                      [-x_l, -y_l, -z_l, 1],\n                      [0, 0, 0, 1]]).T\n        img_cor_points = np.dot(camera_matrix, np.dot(Rt, P))\n        img_cor_points = img_cor_points.T\n        img_cor_points[:, 0] /= img_cor_points[:, 2]\n        img_cor_points[:, 1] /= img_cor_points[:, 2]\n        img_cor_points = img_cor_points.astype(int)\n\n```"
  }
}