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import math
import cv2
import numpy
xlist=[]
ylist=[]
xres=1280/5
yres=720/5
#constant = 1./math.sqrt((xres/2)**2 + (yres/2)**2)
constant = 1./(1280/2.)*30./42.
print constant
for y in xrange(0,yres):
xtmp=[]
ytmp=[]
yy=(y-yres/2.)/yres*720
for x in xrange(0,xres):
xx=(x-xres/2.)/xres*1280
dist = math.sqrt(xx**2 + yy**2)
if (dist != 0):
xtmp=xtmp+[ 1280/2+ xx/dist/constant*math.atan(constant*dist) ]
ytmp=ytmp+[ 720/2 + yy/dist/constant*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')
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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