remove unused code

old-commit-hash: da5cb1842a

common/log_compressor.py

@@ -1,92 +0,0 @@
-import sys
-import json
-# pip2 install msgpack-python
-import msgpack
-import zlib
-import os
-import logging
-
-from Crypto.Cipher import AES
-
-ext = ".gz"
-SWAG = '\xde\xe2\x11\x15VVC\xf2\x8ep\xd7\xe4\x87\x8d,9'
-
-def compress_json(in_file, out_file):
-  logging.debug("compressing %s -> %s", in_file, out_file)
-
-  errors = 0
-
-  good = []
-  last_can_time = 0
-  with open(in_file, 'r') as inf:
-    for ln in inf:
-      ln = ln.rstrip()
-      if not ln: continue
-      try:
-        ll = json.loads(ln)
-      except ValueError:
-        errors += 1
-        continue
-      if ll is None or ll[0] is None:
-        continue
-      if ll[0][1] == 1:
-        # no CAN in hex
-        ll[1][2] = ll[1][2].decode("hex")
-        # relativize the CAN timestamps
-        this_can_time = ll[1][1]
-        ll[1] = [ll[1][0], this_can_time - last_can_time, ll[1][2]]
-        last_can_time = this_can_time
-      good.append(ll)
-
-  logging.debug("compressing %s -> %s, read done", in_file, out_file)
-  data = msgpack.packb(good)
-  data_compressed = zlib.compress(data)
-  # zlib doesn't care about this
-  data_compressed += "\x00" * (16 - len(data_compressed)%16)
-  aes = AES.new(SWAG, AES.MODE_CBC, "\x00"*16)
-  data_encrypted = aes.encrypt(data_compressed)
-  with open(out_file, "wb") as outf:
-    outf.write(data_encrypted)
-
-  logging.debug("compressing %s -> %s, write done", in_file, out_file)
-
-  return errors
-
-def decompress_json_internal(data_encrypted):
-  aes = AES.new(SWAG, AES.MODE_CBC, "\x00"*16)
-  data_compressed = aes.decrypt(data_encrypted)
-  data = zlib.decompress(data_compressed)
-  msgs = msgpack.unpackb(data)
-  good = []
-  last_can_time = 0
-  for ll in msgs:
-    if ll[0][1] == 1:
-      # back into hex
-      ll[1][2] = ll[1][2].encode("hex")
-      # derelativize CAN timestamps
-      last_can_time += ll[1][1]
-      ll[1] = [ll[1][0], last_can_time, ll[1][2]]
-    good.append(ll)
-  return good
-
-def decompress_json(in_file, out_file):
-  logging.debug("decompressing %s -> %s", in_file, out_file)
-  f = open(in_file)
-  data_encrypted = f.read()
-  f.close()
-
-  good = decompress_json_internal(data_encrypted)
-  out = '\n'.join(map(lambda x: json.dumps(x), good)) + "\n"
-  logging.debug("decompressing %s -> %s, writing", in_file, out_file)
-  f = open(out_file, 'w')
-  f.write(out)
-  f.close()
-  logging.debug("decompressing %s -> %s, write finished", in_file, out_file)
-
-if __name__ == "__main__":
-  for dat in sys.argv[1:]:
-    print(dat)
-    compress_json(dat, "/tmp/out"+ext)
-    decompress_json("/tmp/out"+ext, "/tmp/test")
-    os.system("diff "+dat+" /tmp/test")
-

common/transformations/camera.py

@@ -146,82 +146,3 @@ def pretransform_from_calib(calib):
   camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
   return np.linalg.inv(camera_frame_from_calib_frame)
 
-def transform_img_M(size,
-                   augment_trans=np.array([0,0,0]),
-                   augment_eulers=np.array([0,0,0]),
-                   from_intr=eon_intrinsics,
-                   to_intr=eon_intrinsics,
-                   pretransform=None):
-  import cv2  # pylint: disable=import-error
-  cy = from_intr[1,2]
-  def get_M(h=1.22):
-    quadrangle = np.array([[0, cy + 20],
-                           [size[1]-1, cy + 20],
-                           [0, size[0]-1],
-                           [size[1]-1, size[0]-1]], dtype=np.float32)
-    quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=from_intr), np.ones((4,1))))
-    quadrangle_world = np.column_stack((h*quadrangle_norm[:,0]/quadrangle_norm[:,1],
-                                        h*np.ones(4),
-                                        h/quadrangle_norm[:,1]))
-    rot = orient.rot_from_euler(augment_eulers)
-    to_extrinsics = np.hstack((rot.T, -augment_trans[:,None]))
-    to_KE = to_intr.dot(to_extrinsics)
-    warped_quadrangle_full = np.einsum('jk,ik->ij', to_KE, np.hstack((quadrangle_world, np.ones((4,1)))))
-    warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
-                                         warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
-    M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle.astype(np.float32))
-    return M
-
-  M = get_M()
-  if pretransform is not None:
-    M = M.dot(pretransform)
-  return M
-
-def transform_img(base_img,
-                 augment_trans=np.array([0,0,0]),
-                 augment_eulers=np.array([0,0,0]),
-                 from_intr=eon_intrinsics,
-                 to_intr=eon_intrinsics,
-                 output_size=None,
-                 pretransform=None,
-                 yuv=False,
-                 alpha=1.0,
-                 beta=0,
-                 blur=0):
-  import cv2  # pylint: disable=import-error
-  cv2.setNumThreads(1)
-
-  if yuv:
-    base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
-
-  size = base_img.shape[:2]
-  if not output_size:
-    output_size = size[::-1]
-
-  M = transform_img_M(size, augment_trans, augment_eulers, from_intr, to_intr, pretransform)
-  augmented_rgb = cv2.warpPerspective(base_img, M, output_size, borderMode=cv2.BORDER_REPLICATE)
-
-  # brightness and contrast augment
-  augmented_rgb = np.clip((float(alpha)*augmented_rgb + beta), 0, 255).astype(np.uint8)
-
-  # gaussian blur
-  if blur > 0:
-    augmented_rgb = cv2.GaussianBlur(augmented_rgb,(blur*2+1,blur*2+1),cv2.BORDER_DEFAULT)
-
-  if yuv:
-    augmented_img = cv2.cvtColor(augmented_rgb, cv2.COLOR_RGB2YUV_I420)
-  else:
-    augmented_img = augmented_rgb
-  return augmented_img
-
-
-def yuv_crop(frame, output_size, center=None):
-  # output_size in camera coordinates so u,v
-  # center in array coordinates so row, column
-  import cv2  # pylint: disable=import-error
-  rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
-  if not center:
-    center = (rgb.shape[0]/2, rgb.shape[1]/2)
-  rgb_crop = rgb[center[0] - output_size[1]/2: center[0] + output_size[1]/2,
-                 center[1] - output_size[0]/2: center[1] + output_size[0]/2]
-  return cv2.cvtColor(rgb_crop, cv2.COLOR_RGB2YUV_I420)