Moildev V4.0

Moildev Library is a collection of functions support python to developments fisheye image applications.

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1. How to install

There are two ways to use moildev. The first way is by visiting the moildev library, now available in the pypi distribution. The second way is cloning from GitHub repository.

$ pip install Moildev

Alternatively, you can choose the second option, which involves cloning the Moildev repository directly from GitHub.

$ git clone https://github.com/perseverance-tech-tw/moildev.git

2. Import Library

import moildev library:

>> from moildev import Moildev

3. Application Programming Interface (API) Reference

3.1 Attention before create object

To create the object from Moildev, you have to provide the parameter. The camera parameter is the result from calibration camera by MOIL laboratory that will store on .json file.

moildev = Moildev("Camera_Parameter_Path")

Parameter:

Camera_Parameter_Path : The path of the .json file that stored the camera parameter from calibration result.

Example:

moildev = Moildev("camera_parameters.json", "entaniya")

Load Image

image = cv2.imread("Image_Path in your computer")

3.2 Create anypoint maps mode 1

Purpose:

Generate a pair of X-Y Maps for the specified alpha, beta and zoom parameters, and then utilize the resulting X-Y Maps to remap the original fisheye image to the target angle image. This function has 2 mode to generate maps anypoint, mode 1 is for tube application and mode 2 usually for car application.

map_X, map_Y = moildev.maps_anypoint_mode1(alpha, beta, zoom)

Example

map_X, map_Y = moildev.maps_anypoint_mode1(90, 180, 2)
anypoint_maps_m1 = cv2.remap(image, map_X, map_Y, cv2.INTER_CUBIC)
anypoint_maps_m1 = cv2.resize(anypoint_maps_m1, (400, 300))
cv2.imshow("anypoint maps mode 1", anypoint_maps_m1)

3.3 Create anypoint mode 1

Purpose:

Generate anypoint view image. for mode 1, the result rotation is betaOffset degree rotation around the Z-axis(roll) after alphaOffset degree rotation around the X-axis(pitch). for mode 2, The result rotation is thetaY degree rotation around the Y-axis(yaw) after thetaX degree rotation around the X-axis(pitch).

anypoint_m1 = moildev.anypoint_mode1(image, alpha, beta, zoom)

Example

anypoint_m1 = moildev.anypoint_mode1(image, 90, 180, 2)
anypoint_m1 = cv2.resize(anypoint_m1, (400, 300))
cv2.imshow("anypoint made 1", anypoint_m1)

3.4 Create anypoint maps mode 2

Purpose:

Generate a pair of X-Y Maps for the specified pitch, yaw, and roll also zoom parameters, and then utilize the resulting X-Y Maps to remap the original fisheye image to the target image.

map_X, map_Y = moildev.maps_anypoint_mode2(pitch, yaw, roll, zoom)

Example

map_X, map_Y = moildev.maps_anypoint_mode2(-90, 0, 0, 2)
anypoint_maps_m2 = cv2.remap(image, map_X, map_Y, cv2.INTER_CUBIC)
anypoint_maps_m2 = cv2.resize(anypoint, (400, 300))
cv2.imshow("anypoint maps mode 2" anypoint_maps_m2)

3.5 Create anypoint mode 2

Purpose:

Generate anypoint view image. for mode 1, the result rotation is betaOffset degree rotation around the Z-axis(roll) after alphaOffset degree rotation around the X-axis(pitch). for mode 2, The result rotation is thetaY degree rotation around the Y-axis(yaw) after thetaX degree rotation around the X-axis(pitch).

anypoint_m2 = moildev.anypoint_mode2(image, pitch, yaw, roll, zoom)

Example

anypoint_m2 = moildev.anypoint_mode2(image, -90, 0, 0, 2)
anypoint_m2 = cv2.resize(anypoint_m2, (400, 300))
cv2.imshow("anypoint mode 2", anypoint_m2)

3.6 Create panorama tube

Purpose:

To create an image with a panoramic view

panorama_tube = moildev.panorama_tube(image, alpha_min, alpha_max)

Example

panorama_tube = moildev.panorama_tube(image, 10, 110)
panorama_tube = cv2.resize(panorama_tube, (400, 300))
cv2.imshow("panorama tube", panorama_tube)

3.7 Create panorama car

Purpose:

The function that generate a moil dash panorama image from fisheye camera. the image can control by alpha to change the pitch direction and beta for yaw direction. in order to select the roi, we can control by the parameter such as left, right, top, and bottom.

panorama_car = moildev.panorama_car(image, alpha_max, alpha, beta, left, right, top, bottom)

Example

panorama_car = moildev.panorama_car(image, 110, 80, 0, 0.25, 0.75, 0, 1)
panorama_car = cv2.resize(panorama_car, (400, 300))
cv2.imshow("panorama car", panorama_car) 

3.8 Create recenter

Purpose:

Function to change the optical point of the fisheye image.

recenter = moildev(image, alpha_max, IC_alpha_degree, IC_beta_degree)

Example

recenter = moildev.recenter(image, 110, 25, 10)
recenter = cv2.resize(recenter, (400, 300))
cv2.imshow("show recenter", recenter)

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