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License: Apache License 2.0
projection transformation among fisheye images and panoramas (Cube Map, ERP, etc.)
License: Apache License 2.0
等距投影鱼眼图像与全景图投影(ERP,CubeMap)转换,基于python、numpy、pytorch 鱼眼图像默认是等距投影,即主光轴夹角与图像坐标半径之间是线性变化,如果是真实图像,需要采用正、反两组多项式拟合进行转换。 核心是利用空间直角坐标系作为转换媒介,利用pytorch提供的grid_sample方法实现。 转换算子定义为类,一般流程为: 1. 类初始化,输入相关参数,生成目标投影每个位置在源投影的采样位置坐标(grid)数据类型np.array, float32; 2. 调用trans方法,将源图像与grid均转化为torch.tensor,并使用grid_sample完成投影变换,输出目标投影图。 fisheyeCubemap.py 进行鱼眼与Cubemap之间的相互转换,文件定义了两个类负责转换。默认鱼眼镜头朝向(主光轴方向)正对Cubemap正面(front face);根据真实情况传入旋转矩阵可以改变相应的方向; fisheyeERP.py 进行鱼眼与ERP之间的相互转换。默认鱼眼镜头朝向(主光轴方向)正对ERP正面,主光轴位于ERP投影正中心;根据实际情况传入旋转矩阵改变方向。
Thank you very much for your project.
I want to implement pinhole2KB4fisheye, but I don’t quite understand the process. Can you give me some guidance?
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