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royshil/cylindricalWarping.py

Last active May 7, 2024 06:42
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Warp an image to cylindrical coordinates for cylindrical panorama stitching, using Python OpenCV
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 import cv2 import numpy as np def cylindricalWarp(img, K): """This function returns the cylindrical warp for a given image and intrinsics matrix K""" h_,w_ = img.shape[:2] # pixel coordinates y_i, x_i = np.indices((h_,w_)) X = np.stack([x_i,y_i,np.ones_like(x_i)],axis=-1).reshape(h_*w_,3) # to homog Kinv = np.linalg.inv(K) X = Kinv.dot(X.T).T # normalized coords # calculate cylindrical coords (sin\theta, h, cos\theta) A = np.stack([np.sin(X[:,0]),X[:,1],np.cos(X[:,0])],axis=-1).reshape(w_*h_,3) B = K.dot(A.T).T # project back to image-pixels plane # back from homog coords B = B[:,:-1] / B[:,[-1]] # make sure warp coords only within image bounds B[(B[:,0] < 0) | (B[:,0] >= w_) | (B[:,1] < 0) | (B[:,1] >= h_)] = -1 B = B.reshape(h_,w_,-1) img_rgba = cv2.cvtColor(img,cv2.COLOR_BGR2BGRA) # for transparent borders... # warp the image according to cylindrical coords return cv2.remap(img_rgba, B[:,:,0].astype(np.float32), B[:,:,1].astype(np.float32), cv2.INTER_AREA, borderMode=cv2.BORDER_TRANSPARENT) if __name__ == '__main__': img = cv2.imread("image.png") h, w = img.shape[:2] K = np.array([[800,0,w/2],[0,800,h/2],[0,0,1]]) # mock intrinsics img_cyl = cylindricalWarp(img, K) cv2.imwrite("image_cyl.png", img_cyl)

Ascyt commented Apr 13, 2023 • edited

Did not work. Only outputted the same image without the outer pixels. I used this image:

And got this: