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import os
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import sys
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import cv2
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import numpy as np
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class Equirectangular:
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def __init__(self, img_name, text2light=False):
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if isinstance(img_name, str):
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self._img = cv2.imread(img_name, cv2.IMREAD_COLOR)
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else:
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self._img = img_name
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if text2light:
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self._img = np.roll(self._img, -60, axis=0)
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[self._height, self._width, _] = self._img.shape
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def GetPerspective(self, FOV, THETA, PHI, height, width):
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equ_h = self._height
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equ_w = self._width
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equ_cx = (equ_w - 1) / 2.0
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equ_cy = (equ_h - 1) / 2.0
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wFOV = FOV
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hFOV = float(height) / width * wFOV
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w_len = np.tan(np.radians(wFOV / 2.0))
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h_len = np.tan(np.radians(hFOV / 2.0))
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x_map = np.ones([height, width], np.float32)
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y_map = np.tile(np.linspace(-w_len, w_len,width), [height,1])
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z_map = -np.tile(np.linspace(-h_len, h_len,height), [width,1]).T
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D = np.sqrt(x_map**2 + y_map**2 + z_map**2)
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xyz = np.stack((x_map,y_map,z_map),axis=2)/np.repeat(D[:, :, np.newaxis], 3, axis=2)
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y_axis = np.array([0.0, 1.0, 0.0], np.float32)
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z_axis = np.array([0.0, 0.0, 1.0], np.float32)
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[R1, _] = cv2.Rodrigues(z_axis * np.radians(THETA))
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[R2, _] = cv2.Rodrigues(np.dot(R1, y_axis) * np.radians(-PHI))
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xyz = xyz.reshape([height * width, 3]).T
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xyz = np.dot(R1, xyz)
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xyz = np.dot(R2, xyz).T
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lat = np.arcsin(xyz[:, 2])
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lon = np.arctan2(xyz[:, 1] , xyz[:, 0])
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lon = lon.reshape([height, width]) / np.pi * 180
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lat = -lat.reshape([height, width]) / np.pi * 180
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lon = lon / 180 * equ_cx + equ_cx
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lat = lat / 90 * equ_cy + equ_cy
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persp = cv2.remap(self._img, lon.astype(np.float32), lat.astype(np.float32), cv2.INTER_CUBIC, borderMode=cv2.BORDER_WRAP)
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return persp
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