mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 07:06:38 +00:00
Denys Zaitsev
38 lines
1.8 KiB
Python
38 lines
1.8 KiB
Python
import numpy as np
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import math
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import cv2
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from typing import Optional, Tuple
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from abc import ABC, abstractmethod
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class IImageRotationUtils(ABC):
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@abstractmethod
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def rotate_image(self, image: np.ndarray, angle: float, center: Optional[Tuple[int, int]] = None) -> np.ndarray: pass
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@abstractmethod
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def calculate_rotation_from_points(self, src_points: np.ndarray, dst_points: np.ndarray) -> float: pass
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@abstractmethod
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def normalize_angle(self, angle: float) -> float: pass
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@abstractmethod
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def compute_rotation_matrix(self, angle: float, center: Tuple[int, int]) -> np.ndarray: pass
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class ImageRotationUtils(IImageRotationUtils):
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"""H07: Image rotation operations, angle calculations from point shifts."""
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def rotate_image(self, image: np.ndarray, angle: float, center: Optional[Tuple[int, int]] = None) -> np.ndarray:
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h, w = image.shape[:2]
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if center is None: center = (w // 2, h // 2)
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return cv2.warpAffine(image, self.compute_rotation_matrix(angle, center), (w, h))
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def calculate_rotation_from_points(self, src_points: np.ndarray, dst_points: np.ndarray) -> float:
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if len(src_points) == 0 or len(dst_points) == 0: return 0.0
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sc, dc = np.mean(src_points, axis=0), np.mean(dst_points, axis=0)
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angles = []
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for s, d in zip(src_points - sc, dst_points - dc):
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if np.linalg.norm(s) > 1e-3 and np.linalg.norm(d) > 1e-3:
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angles.append(math.atan2(d[1], d[0]) - math.atan2(s[1], s[0]))
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if not angles: return 0.0
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return self.normalize_angle(math.degrees(np.mean(np.unwrap(angles))))
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def normalize_angle(self, angle: float) -> float:
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return angle % 360.0
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def compute_rotation_matrix(self, angle: float, center: Tuple[int, int]) -> np.ndarray:
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return cv2.getRotationMatrix2D(center, -angle, 1.0) |