diff options
| -rw-r--r-- | stabilize.py | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/stabilize.py b/stabilize.py index 50d064b..b0c5c1a 100644 --- a/stabilize.py +++ b/stabilize.py @@ -1,7 +1,7 @@ import cv2 import math import numpy -from math import sin,cos +from math import sin,cos,tan,sqrt cap = cv2.VideoCapture("../vid.mp4") writer = cv2.VideoWriter("../outvid.avi",cv2.cv.CV_FOURCC(*'MP42'),25,(1600,600),1) @@ -40,6 +40,14 @@ def get_maps(xres,yres): 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) + + d = 18. # distance from center to camera + r = 200. # distance from center to recorded objects + alpha = 92/2/math.sqrt(16**2+9**2)*16. # angle over x axis + lam = -d * cos(alpha) + math.sqrt(d**2 * (cos(alpha))**2 - d**2 + r**2) + dist_canvas = d + lam*cos(alpha) + width_canvas = lam*sin(alpha) * 2 + beta = math.atan(width_canvas/2./dist_canvas) # viewing angle as calculated from center of camera. depends from object distance, because camera is not at the center. for y in xrange(0,yres): xtmp=[] @@ -47,7 +55,10 @@ def get_maps(xres,yres): yy=(y-yres/2.)/xres # yes, xres. for x in xrange(0,xres): - xx=math.tan((x-xres/2.)/xres*foo)/foo + #xx= tan((x-xres/2.)/xres*2.*beta) * dist_canvas / width_canvas + #xx= tan((x-xres/2.)/xres*width_canvas/dist_canvas) * dist_canvas / width_canvas + xx= tan((x-xres/2.)/xres*2.*beta) /2./beta + # derivative of this at location 0 should be 1.0/xres dist = math.sqrt(xx**2 + yy**2) |