Crop image + depthmap and adjust intrinsics.
(image, depthmap, camera_intrinsics, crop_bbox)
| 98 | |
| 99 | |
| 100 | def crop_image_depthmap(image, depthmap, camera_intrinsics, crop_bbox): |
| 101 | """Crop image + depthmap and adjust intrinsics.""" |
| 102 | image = ImageList(image) |
| 103 | l, t, r, b = crop_bbox |
| 104 | |
| 105 | image = image.crop((l, t, r, b)) |
| 106 | depthmap = depthmap[t:b, l:r] |
| 107 | |
| 108 | camera_intrinsics = camera_intrinsics.copy() |
| 109 | camera_intrinsics[0, 2] -= l |
| 110 | camera_intrinsics[1, 2] -= t |
| 111 | |
| 112 | return image.to_pil(), depthmap, camera_intrinsics |
| 113 | |
| 114 | |
| 115 | def camera_matrix_of_crop(input_camera_matrix, input_resolution, output_resolution, scaling=1, offset_factor=0.5, offset=None): |
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