Installing Numba from pip fails since Ubuntu 16.04 only has up through llvm-3.8 in its repositories.
As of version 0.16.0, llvmlite requires LLVM 3.9. It does not support earlier or later versions of LLVM.
Install LLVM-3.9 through the LLVM's Debian/Ubuntu packages (http://apt.llvm.org/).
Add:
| #!/usr/bin/env python3 | |
| # -*- encoding: utf-8 -*- | |
| # | |
| # Demo of un-distorting 2D bbox detection result instead of image for potential speedup | |
| # 114 484 67472.0 139.4 0.2 dets_tweak = tweak_dets_by_undistort_points_vec(dets, K=K_cam, distortion=distortion, R=undistort_R, P=undistort_P) | |
| # 117 484 2853099.0 5894.8 6.3 im_undistort = distort_fun(im) | |
| # | |
| # Ref: | |
| # https://stackoverflow.com/questions/8499984/how-to-undistort-points-in-camera-shot-coordinates-and-obtain-corresponding-undi | |
| # FIXME, tried to use mapping array, but failed |
| """ | |
| KITTI stereo disparity 3 pixel error, corrected | |
| REFERENCES: | |
| * [PMSNet code](https://github.com/JiaRenChang/PSMNet/blob/b6520ff9b77168e3dfe3485f8bf6a2a798361d85/finetune.py) | |
| * [type converter](https://github.com/traveller59/torchplus/blob/master/tools.py) | |
| MATLAB code: | |
| ``` | |
| % disp_error.m |
| """ | |
| KITTI stereo disparity 3 pixel error | |
| REFERENCES: | |
| * [PMSNet code](https://github.com/JiaRenChang/PSMNet/blob/b6520ff9b77168e3dfe3485f8bf6a2a798361d85/finetune.py) | |
| * [type converter](https://github.com/traveller59/torchplus/blob/master/tools.py) | |
| MATLAB code: | |
| ``` | |
| % disp_error.m |
| """ | |
| Rotation inverse & different sequence. | |
| By inverse rotation, or in other world, rotate camera from world origin and rotate back, will have completely different angles, if the sequence are maintained. | |
| """ | |
| import transforms3d | |
| import math | |
| if __name__ == '__main__': | |
| pitch, yaw, roll = 10, 20, 30 |
| """ | |
| Camera pose=[R|t]=[R|-RC], R: rotate camera to world, C: camera in world, t: world origin in camera coordinate. | |
| """ | |
| import transforms3d | |
| import math | |
| import numpy as np | |
| def pitch_yaw_roll_C_apply_point(pitch, yaw, roll, C, p_w): |
| """ | |
| Transform various rotation sequences to YXZ (UnrealCV format), so the rotation sequence matters. | |
| """ | |
| import transforms3d | |
| import math | |
| if __name__ == '__main__': | |
| # pitch, yaw, roll = 10, 20, 30 |
