hell yeah

1 files changed, 16 insertions, 9 deletions

diff --git a/warp.py b/warp.py
index 57564c1..7cda232 100644
--- a/warp.py
+++ b/warp.py
@@ -5,26 +5,33 @@ import numpy
 xlist=[]
 ylist=[]
 
-xres=1600
-yres=900
+xres=1600/2
+yres=900/2
 
 #constant = 1./math.sqrt((xres/2)**2 + (yres/2)**2)
-constant = 1./(1280/2.)*30./40.
-print constant
+constant = 30./41.5*3
+# found out experimentally
+constant2= 1./(1280/2.)*math.atan(30./40)
+print constant2
+
+# calculated from official spec: maximum angle (i.e., over the diagonals)
+# is 92 deg. -> angle over half a diagonal's length is 92/2 deg
+constant2= 1./(math.sqrt((1280/2)**2+(720/2)**2))*(92/2)/180*math.pi
+print constant2
 
 for y in xrange(0,yres):
     xtmp=[]
     ytmp=[]
 
-    yy=(y-yres/2.)/yres*720
+    yy=(y-yres/2.)/xres # yes, xres.
     for x in xrange(0,xres):
-        xx=(x-xres/2.)/xres*1280
+        xx=(x-xres/2.)/xres
 
         dist = math.sqrt(xx**2 + yy**2)
         
         if (dist != 0):
-            xtmp=xtmp+[ 1280/2+  xx/dist/constant*math.atan(constant*dist*1.3)  ]
-            ytmp=ytmp+[ 720/2 +  yy/dist/constant*math.atan(constant*dist*1.3)  ]
+            xtmp=xtmp+[ 1280/2+  xx/dist/constant2*math.atan(constant*dist)  ]
+            ytmp=ytmp+[ 720/2 +  yy/dist/constant2*math.atan(constant*dist)  ]
         else:
             xtmp=xtmp+[0+1280/2]
             ytmp=ytmp+[0+720/2]
@@ -38,7 +45,7 @@ for y in xrange(0,yres):
 xmap=numpy.array(xlist).astype('float32')
 ymap=numpy.array(ylist).astype('float32')
 
-img=cv2.imread("../cam42.png")
+img=cv2.imread("cam42.png")
 img2=cv2.remap(img, xmap, ymap, cv2.INTER_CUBIC)
 
 cv2.imshow("orig", img)