dewarp.py

import numpy as np


def equirect_proj(x_proj, y_proj, W, H, fov):
    """Return the equirectangular projection on a unit sphere,
    given cartesian coordinates of the de-warped image."""
    theta_alt = x_proj * fov / W
    phi_alt = y_proj * np.pi / H

    x = np.sin(theta_alt) * np.cos(phi_alt)
    y = np.sin(phi_alt)
    z = np.cos(theta_alt) * np.cos(phi_alt)

    return np.arctan2(y, x), np.arctan2(np.sqrt(x**2 + y**2), z)


def buildmap(Ws, Hs, Wd, Hd, fov=180.0):
    """Return a mapping from de-warped images to fisheye images."""
    fov = fov * np.pi / 180.0

    # cartesian coordinates of the de-warped rectangular image
    ys, xs = np.indices((Hs, Ws), np.float32)
    y_proj = Hs / 2.0 - ys
    x_proj = xs - Ws / 2.0

    # spherical coordinates
    theta, phi = equirect_proj(x_proj, y_proj, Ws, Hs, fov)

    # polar coordinates (of the fisheye image)
    p = Hd * phi / fov

    # cartesian coordinates of the fisheye image
    y_fish = p * np.sin(theta)
    x_fish = p * np.cos(theta)

    ymap = Hd / 2.0 - y_fish
    xmap = Wd / 2.0 + x_fish
    return xmap, ymap