经纬图转鱼眼图

#include <iostream>

#include <string>

#include <opencv2\opencv.hpp>

using namespace std ;

using namespace cv ;

const float PI = 3.1415926 ;

void rectifyMap ( Mat & mapImg , const int inWidth , const int inHeight , const float * rot , const int outWidth , const int outHeight , const float FOV , const float radius )

{

float cx = outWidth / 2.0 ;

float cy = outHeight / 2.0 ;

float * pMapData = ( float * ) mapImg . data ;

for ( int j = 0 ; j < outHeight ; j ++ )

{

for ( int i = 0 ; i < outWidth ; i ++ )

{

//求fi 范围0-2PI

if ( i == cx && j == outHeight - 1 )

{

int flg = 0 ;

}

float fi2 = atan2 ( ( j - cy ),( i - cx ));

if ( fi2 < 0 )

{

fi2 += 2 * PI ;

}

//求半径

float radius2 ;

if ( abs ( sin ( fi2 )) < 1e-3 )

{

radius2 = abs ( i - cx );

}

else

{

radius2 = abs (( j - cy ) / sin ( fi2 ));

}

float theta2 = radius2 * FOV / ( radius * 2 );

if ( theta2 <= ( FOV / 2 ) && theta2 >= 0 )

{

float x2 , y2 , z2 ;

z2 = cos ( theta2 * PI / 180 );

if ( abs ( fi2 - PI / 2 ) < 1e-3 || abs ( fi2 - PI / 2 ) < 1e-3 )

{

x2 = 0 ;

}

else

{

x2 = sqrt ( 1 - z2 * z2 ) /sqrt ( 1 + tan ( fi2 ) * tan ( fi2 )); //20150524

} 

if ( fi2 < ( 3 * PI / 2 ) && fi2 > ( PI / 2 )) x2 *=- 1 ;

y2 = sqrt ( 1 - x2 * x2 - z2 * z2 );

if ( fi2 < ( 2 * PI ) && fi2 > ( PI )) y2 *=- 1 ;

float norm = sqrt ( x2 * x2 + y2 * y2 + z2 * z2 );

x2 *= norm ;

y2 *= norm ;

z2 *= norm ;

float x1 = rot [ 0 ] * x2 + rot [ 1 ] * y2 + rot [ 2 ] * z2 ;

float y1 = rot [ 3 ] * x2 + rot [ 4 ] * y2 + rot [ 5 ] * z2 ;

float z1 = rot [ 6 ] * x2 + rot [ 7 ] * y2 + rot [ 8 ] * z2 ;

float theta1 = acos ( z1 );

float fi1 ;

if ( abs ( sin ( theta1 )) < 1e-3 )

{

fi1 = PI / 2 ;

}

else

{

fi1 = acos ( x1 / sin ( theta1 )) + PI / 2 ;

}

float u = ( 2 * PI - fi1 ) * inWidth / ( 2 * PI );

float v = theta1 * inHeight / PI ;

if ( u >= 0 && u < inWidth - 1 && v >= 0 && v < inHeight - 1 )

{

pMapData [ j * outWidth * 2 + 2 * i + 0 ] = u ;

pMapData [ j * outWidth * 2 + 2 * i + 1 ] = v ;

}

}

else

{

pMapData [ j * outWidth * 2 + 2 * i + 0 ] = 0 ;

pMapData [ j * outWidth * 2 + 2 * i + 1 ] = 0 ;

}

}

}

}

void remap ( const cv :: Mat & srcImg , cv :: Mat & dstImg , const cv :: Mat & mapImg , int inHeight , int inWidth , int outHeight , int outWidth )

{

uchar * pSrcData = ( uchar * ) srcImg . data ;

uchar * pDstData = ( uchar * ) dstImg . data ;

float * pMapData = ( float * ) mapImg . data ;

for ( int j = 0 ; j < outHeight ; j ++ )

{

for ( int i = 0 ; i < outWidth ; i ++ )

{

int idx = j * outWidth * 2 + i * 2 ;

float u = pMapData [ idx + 0 ];

float v = pMapData [ idx + 1 ];

int u0 = floor ( u );

int v0 = floor ( v );

float dx = u - u0 ;

float dy = v - v0 ;

float weight1 = ( 1 - dx ) * ( 1 - dy );

float weight2 = dx * ( 1 - dy );

float weight3 = ( 1 - dx ) * dy ;

float weight4 = dx * dy ;

if ( u0 >= 0 && v0 >= 0 && ( u0 + 1 ) < inWidth && ( v0 + 1 ) < inHeight )

{

float B = weight1 * pSrcData [ v0 * inWidth * 3 + u0 * 3 + 0 ] + weight2 * pSrcData [ v0 * inWidth * 3 + ( u0 + 1 ) * 3 + 0 ] +

weight3 * pSrcData [( v0 + 1 ) * inWidth * 3 + u0 * 3 + 0 ] + weight4 * pSrcData [( v0 + 1 ) * inWidth * 3 + ( u0 + 1 ) * 3 + 0 ];

float G = weight1 * pSrcData [ v0 * inWidth * 3 + u0 * 3 + 1 ] + weight2 * pSrcData [ v0 * inWidth * 3 + ( u0 + 1 ) * 3 + 1 ] +

weight3 * pSrcData [( v0 + 1 ) * inWidth * 3 + u0 * 3 + 1 ] + weight4 * pSrcData [( v0 + 1 ) * inWidth * 3 + ( u0 + 1 ) * 3 + 1 ];

float R = weight1 * pSrcData [ v0 * inWidth * 3 + u0 * 3 + 2 ] + weight2 * pSrcData [ v0 * inWidth * 3 + ( u0 + 1 ) * 3 + 2 ] +

weight3 * pSrcData [( v0 + 1 ) * inWidth * 3 + u0 * 3 + 2 ] + weight4 * pSrcData [( v0 + 1 ) * inWidth * 3 + ( u0 + 1 ) * 3 + 2 ];

int idxResult = j * outWidth * 3 + i * 3 ;

pDstData [ idxResult + 0 ] = uchar ( B );

pDstData [ idxResult + 1 ] = uchar ( G );

pDstData [ idxResult + 2 ] = uchar ( R );

}

}

}

}

void main ()

{

Mat srcImg = imread ( "animal.jpg" );

//输入经纬度图像尺寸

int inHeight = srcImg . rows ;

int inWidth = srcImg . cols ;

//输出鱼眼图像尺寸

int outHeight = 1000 ;

int outWidth = 1000 ;

//视场角

float FOV = 180 ;

//鱼眼半径

float radius = outWidth / 2.0 ;

//以图像中心为北极

float rot [ 9 ] = { 1 , 0 , 0 , 0 , 1 , 0 , 0 , 0 , 1 };

float angle = PI / 2 ;

rot [ 4 ] = cos ( angle );

rot [ 5 ] = sin ( angle );

rot [ 7 ] = - sin ( angle );

rot [ 8 ] = cos ( angle );

//求映射Map

cv :: Mat mapImg = cv :: Mat :: zeros ( outHeight , outWidth , CV_32FC2 );

rectifyMap ( mapImg , inWidth , inHeight , rot , outWidth , outHeight , FOV , radius );

//remap得到经纬度图像

Mat dstImg = Mat :: zeros ( outHeight , outWidth , CV_8UC3 );

remap ( srcImg , dstImg , mapImg , inHeight , inWidth , outHeight , outWidth );

imwrite ( "dstImg.jpg" , dstImg );

}