Merge branch 'warp_stabilizer'

2 files changed, 89 insertions, 42 deletions

diff --git a/stabilize.py b/stabilize.py
index 3692b2b..ab11b51 100644
--- a/stabilize.py
+++ b/stabilize.py
@@ -28,12 +28,60 @@ lk_params = dict( winSize  = (15,15),
 
 ###### INITALISATION ######
 
-ret,oldframe=cap.read()
+
+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
+
+    for y in xrange(0,yres):
+        xtmp=[]
+        ytmp=[]
+
+        yy=(y-yres/2.)/xres # yes, xres.
+        for x in xrange(0,xres):
+            xx=math.tan((x-xres/2.)/xres)
+
+            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(1280,720)
+
+
+
+ret,oldframe_=cap.read()
+rawheight, rawwidth, bpp = oldframe_.shape
+
+oldframe = cv2.remap(oldframe_, xmap, ymap, cv2.INTER_CUBIC)
 oldgray=cv2.cvtColor(oldframe,cv2.COLOR_BGR2GRAY)
 
 height, width, bpp = oldframe.shape
 
-mask = numpy.ones((height,width, 1), numpy.uint8) * 255
+mask_ = numpy.ones((rawheight,rawwidth, 1), numpy.uint8) * 255
+mask = cv2.remap(mask_, xmap, ymap, cv2.INTER_CUBIC)
+
 screencontent = numpy.zeros((scr_height, scr_width,3), numpy.uint8)
 
 total_angle=0.
@@ -41,7 +89,8 @@ total_x=1500
 total_y=-300
 
 while(cap.isOpened()):
-    ret, frame = cap.read()
+    ret, frame_ = cap.read()
+    frame = cv2.remap(frame_, xmap, ymap, cv2.INTER_CUBIC)
     gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
 
     
diff --git a/warp.py b/warp.py
index 7cda232..f6407e9 100644
--- a/warp.py
+++ b/warp.py
@@ -2,48 +2,46 @@ import math
 import cv2
 import numpy
 
-xlist=[]
-ylist=[]
-
-xres=1600/2
-yres=900/2
-
-#constant = 1./math.sqrt((xres/2)**2 + (yres/2)**2)
-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
+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
+
+    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_)
+
+            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
 
-for y in xrange(0,yres):
-    xtmp=[]
-    ytmp=[]
+    xmap=numpy.array(xlist).astype('float32')
+    ymap=numpy.array(ylist).astype('float32')
 
-    yy=(y-yres/2.)/xres # yes, xres.
-    for x in xrange(0,xres):
-        xx=(x-xres/2.)/xres
+    return xmap,ymap
 
-        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')
+xmap,ymap = get_maps(1600/2,900/2)
 
 img=cv2.imread("cam42.png")
 img2=cv2.remap(img, xmap, ymap, cv2.INTER_CUBIC)