def undistort_image(
shot: pymap.Shot,
undistorted_shots: List[pymap.Shot],
original: Optional[np.ndarray],
interpolation,
max_size: int,
) -> Dict[str, np.ndarray]:
"""Undistort an image into a set of undistorted ones.
Args:
shot: the distorted shot
undistorted_shots: the set of undistorted shots covering the
distorted shot field of view. That is 1 for most camera
types and 6 for spherical cameras.
original: the original distorted image array.
interpolation: the opencv interpolation flag to use.
max_size: maximum size of the undistorted image.
"""
if original is None:
return {}
projection_type = shot.camera.projection_type
if projection_type in ["perspective", "brown", "fisheye", "fisheye_opencv"]:
[undistorted_shot] = undistorted_shots
new_camera = undistorted_shot.camera
height, width = original.shape[:2]
map1, map2 = pygeometry.compute_camera_mapping(
shot.camera, new_camera, width, height
)
undistorted = cv2.remap(original, map1, map2, interpolation)
return {undistorted_shot.id: scale_image(undistorted, max_size)}
elif pygeometry.Camera.is_panorama(projection_type):
subshot_width = undistorted_shots[0].camera.width
width = 4 * subshot_width
height = width // 2
image = cv2.resize(original, (width, height), interpolation=interpolation)
mint = cv2.INTER_LINEAR if interpolation == cv2.INTER_AREA else interpolation
res = {}
for undistorted_shot in undistorted_shots:
undistorted = render_perspective_view_of_a_panorama(
image, shot, undistorted_shot, mint
)
res[undistorted_shot.id] = scale_image(undistorted, max_size)
return res
else:
raise NotImplementedError(
"Undistort not implemented for projection type: {}".format(
shot.camera.projection_type
)
)
def undistort_image(shot, undistorted_shots, original, interpolation,
max_size):
"""Undistort an image into a set of undistorted ones.
Args:
shot: the distorted shot
undistorted_shots: the set of undistorted shots covering the
distorted shot field of view. That is 1 for most camera
types and 6 for equirectangular cameras.
original: the original distorted image array.
interpolation: the opencv interpolation flag to use.
max_size: maximum size of the undistorted image.
"""
if original is None:
return
projection_type = shot.camera.projection_type
if projection_type in [
'perspective', 'brown', 'fisheye', 'fisheye_opencv'
]:
new_camera = undistorted_shots[0].camera
height, width = original.shape[:2]
map1, map2 = pygeometry.compute_camera_mapping(shot.camera, new_camera,
width, height)
undistorted = cv2.remap(original, map1, map2, interpolation)
return {shot.id: scale_image(undistorted, max_size)}
elif projection_type in ['equirectangular', 'spherical']:
subshot_width = undistorted_shots[0].camera.width
width = 4 * subshot_width
height = width // 2
image = cv2.resize(original, (width, height),
interpolation=interpolation)
mint = cv2.INTER_LINEAR if interpolation == cv2.INTER_AREA else interpolation
res = {}
for subshot in undistorted_shots:
undistorted = render_perspective_view_of_a_panorama(
image, shot, subshot, mint)
res[subshot.id] = scale_image(undistorted, max_size)
return res
else:
raise NotImplementedError(
'Undistort not implemented for projection type: {}'.format(
shot.camera.projection_type))
