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import math
import cv2
import numpy
def get_maps(xres,yres):
xlist=[]
ylist=[]
constant = 30./41.5*3
# 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
foo = math.tan( 92/2/math.sqrt(16**2+9**2)*16. ) * constant / math.tan(1280/2 * constant2)
for y in xrange(0,yres):
xtmp=[]
ytmp=[]
yy=(y-yres/2.)/xres # yes, xres.
for x in xrange(0,xres):
xx_=(x-xres/2.)/xres
xx=math.tan(xx_*foo)/foo
dist = math.sqrt(xx**2 + yy**2)
if (dist != 0):
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]
xlist=xlist+[xtmp]
ylist=ylist+[ytmp]
if y % 10 == 0:
print y
xmap=numpy.array(xlist).astype('float32')
ymap=numpy.array(ylist).astype('float32')
return xmap,ymap
xmap,ymap = get_maps(1600/2,900/2)
img=cv2.imread("cam42.png")
img2=cv2.remap(img, xmap, ymap, cv2.INTER_CUBIC)
cv2.imshow("orig", img)
cv2.imshow("remap", img2)
print img2.shape
while cv2.waitKey(50) & 256 != ord("q"):
pass
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