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| import os | |
| import sys | |
| import cv2 | |
| import numpy as np | |
| class Perspective: | |
| def __init__(self, img_name , FOV, THETA, PHI ): | |
| self._img = cv2.imread(img_name, cv2.IMREAD_COLOR) | |
| [self._height, self._width, _] = self._img.shape | |
| self.FOV = FOV | |
| self.THETA = THETA | |
| self.PHI = PHI | |
| def GetEquirec(self,height,width): | |
| # | |
| # THETA is left/right angle, PHI is up/down angle, both in degree | |
| # | |
| equ_h = height | |
| equ_w = width | |
| equ_cx = (equ_w - 1) / 2.0 | |
| equ_cy = (equ_h - 1) / 2.0 | |
| wFOV = self.FOV | |
| hFOV = float(self._height) / self._width * wFOV | |
| w_len = np.tan(np.radians(wFOV / 2.0)) | |
| h_len = np.tan(np.radians(hFOV / 2.0)) | |
| x_map = np.ones([self._height, self._width], np.float32) | |
| y_map = np.tile(np.linspace(-w_len, w_len,self._width), [self._height,1]) | |
| z_map = -np.tile(np.linspace(-h_len, h_len,self._height), [self._width,1]).T | |
| print(z_map[0]) | |
| D = np.sqrt(x_map**2 + y_map**2 + z_map**2) | |
| xyz = np.stack((x_map,y_map,z_map),axis=2)/np.repeat(D[:, :, np.newaxis], 3, axis=2) | |
| print(xyz[0,:,2]) | |
| y_axis = np.array([0.0, 1.0, 0.0], np.float32) | |
| z_axis = np.array([0.0, 0.0, 1.0], np.float32) | |
| [R1, _] = cv2.Rodrigues(z_axis * np.radians(self.THETA)) | |
| [R2, _] = cv2.Rodrigues(np.dot(R1, y_axis) * np.radians(-self.PHI)) | |
| xyz = xyz.reshape([self._height * self._width, 3]).T | |
| xyz = np.dot(R1, xyz) | |
| xyz = np.dot(R2, xyz).T | |
| lat = np.arcsin(xyz[:, 2]) | |
| lon = np.arctan2(xyz[:, 1] , xyz[:, 0]) | |
| lon = lon / np.pi * 180 | |
| lat = -lat / np.pi * 180 | |
| print(lat.reshape([self._height , self._width])[0]) | |
| print(lon.reshape([self._height , self._width])[0]) | |
| lon = (lon / 180 * equ_cx + equ_cx).astype(np.int) | |
| lat = (lat / 90 * equ_cy + equ_cy).astype(np.int) | |
| coordinate = (lat,lon) | |
| x_map = np.repeat(np.arange(self._height), self._width) | |
| y_map = np.tile(np.arange(self._width), self._height) | |
| blank_map_x = np.zeros((height,width)) | |
| blank_map_y = np.zeros((height,width)) | |
| mask = np.zeros((height,width,3)) | |
| blank_map_x[coordinate] = x_map | |
| blank_map_y[coordinate] = y_map | |
| mask[coordinate] = [1,1,1] | |
| # print(lat.reshape([self._height, self._width])) | |
| # print(lon.reshape([self._height, self._width])[-1,1910:1930]) | |
| persp = cv2.remap(self._img, blank_map_y.astype(np.float32), blank_map_x.astype(np.float32), cv2.INTER_CUBIC, borderMode=cv2.BORDER_WRAP) | |
| persp = persp * mask | |
| return persp , mask | |