(K, camera_pose, new_size, center_crop_size, old_width=640, old_height=360)
| 38 | |
| 39 | |
| 40 | def transform_coordinates(K, camera_pose, new_size, center_crop_size, old_width=640, old_height=360): |
| 41 | # crop operation |
| 42 | new_corner = torch.tensor([(old_width - center_crop_size) // 2, (old_height - center_crop_size) // 2]) |
| 43 | K[:2, 2] = K[:2, 2] - new_corner |
| 44 | # resize operation |
| 45 | K[:2] = new_size * K[:2] / center_crop_size |
| 46 | return K, camera_pose |
| 47 | |
| 48 | |
| 49 | def generate_rotation_matrix(generator, max_pitch: float, max_yaw: float, max_roll: float): |