python-opencv实现pinhole相机图像转fisheye相机图像

根据鱼眼相机公式rf=f*θ，其中θ=atan(rc/f)，即可实现从pinhole相机模型到fisheye相机模型的像素映射。可自行设置焦距，我使用如下代码完成了将cityscape数据集转换为鱼眼视角。

import numpy as np
import cv2
import os


class ConvertFisheye():
    """
    rf = f*atan(rc/f)
    其中theta=atan(rc/f)
    """
    def __init__(self):
        self.focal_length = 520  # 可自行设置fisheye焦距

    def convert(self, img):
        h, w = img.shape[0], img.shape[1]
        dstImg = np.zeros(img.shape, np.uint8)
        ux, uy = w/2, h/2  # 传统图像的主点，principle point（也是鱼眼的主点，因为同分辨率的）
        for i in range(h):
            for j in range(w):
                dx, dy = j-ux, i-uy  # 传统图像的图像坐标
                rc = np.sqrt(dx**2 + dy**2)  # distance between the image point and the principal point
                theta = np.arctan2(rc, self.focal_length)  # θ is the angle between the principal axis and the incoming ray
                gama = np.arctan2(dy, dx)  # 图像点到图像主点的连线的角度，鱼眼和传统都一样
                rf = self.focal_length*theta
                xf = rf*np.cos(gama)
                yf = rf*np.sin(gama)
                x = int(xf + ux)  # 原图j对应鱼眼的x
                y = int(yf + uy)  # 原图i对应鱼眼的y
                dstImg[y][x] = img[i][j]
        # cv2.imshow('a', dstImg)
        # cv2.waitKey()
        return(dstImg)


if __name__ == "__main__":
    input_root_path = 'E:\\all_dataset\\cityscape_val\\val' 
    output_root_path = 'E:\\all_dataset\\cityscape_fisheye_val\\label_img' 
    cf = ConvertFisheye()
    i = 0
    if not os.path.exists(output_root_path):
        os.makedirs(output_root_path)
    for root, dirs, files in os.walk(input_root_path):
        for f in files:
            if 'color' in f and not os.path.exists(os.path.join(output_root_path, f)):
                i += 1
                img_path = os.path.join(root, f)
                print(img_path, i)
                img = cv2.imread(img_path)
                dstImg = cf.convert(img)
                cv2.imwrite(os.path.join(output_root_path, f), dstImg)