Moildev

This module provides functionalities for working with fisheye images using the Moildev library.

Functions:

• draw_polygon(image, mapX, mapY): Draw polygon from mapX and mapY given in the original image.

Classes:

• Moildev: Class for initializing the Moildev library and performing various transformations on fisheye images.

References

For more detail, please refer to the official Moildev documentation at https://github.com/MoilOrg/moildev

Moildev.Moildev.draw_polygon(image, mapX, mapY)

Draw polygon from mapX and mapY given in the original image.

Parameters:

• image – Original image

• mapX – map image X from anypoint process

• mapY – map image Y from anypoint process

Return type:

image

class Moildev.Moildev.Moildev(parameter_path)

Bases: object

This is the initial configuration that you need provide the parameter. The camera parameter is the result from calibration camera by MOIL laboratory. before the successive functions can work correctly,configuration is necessary in the beginning of program.

Parameters:

• () (camera_type) –

• () –

for more detail, please reference https://github.com/MoilOrg/moildev

test()

Test to link with Moildev share library

Returns:

Hello from C++

clean()

clean the memory of pointer.

Returns:

None

get_Icx()

Get center image from width image (x axis).

Returns:

get_Icy()

Get center image from height image (y axis).

Returns:

get_imageWidth()

Get image width.

Returns:

get_imageHeight()

Get image height.

Returns:

image height

Return type:

int

getAnypointMaps(alpha, beta, zoom, mode=1)

The purpose is to generate a pair of X-Y Maps for the specified alpha, beta and zoom parameters, the result X-Y Maps can be used later to remap the original fisheye image to the target angle image.

:param : param alpha: alpha :param : type alpha: float :param : param beta: beta :param : type beta: float :param : param zoom: decimal zoom factor, normally 1..12 :param : type zoom: int :param : param mode: selection anypoint mode(1 or 2) :param : type mode: int

Returns:

return: map_x, map_y :rtype: float

Examples

please reference: https://github.com/MoilOrg/moildev

getPanoramaMaps(alpha_min, alpha_max)

To generate a pair of X-Y Maps for alpha within 0..alpha_max degree, the result X-Y Maps can be used later to generate a panorama image from the original fisheye image..

:param : param alpha_min: alpha min :param : type alpha_min: float :param : param alpha_max: alpha max :param : type alpha_max: float

Returns:

return: pair maps x-y :rtype: array

Examples

please reference: https://github.com/MoilOrg/moildev

anypoint(image, alpha, beta, zoom, mode=1)

Generate anypoint view.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).

:param : param image: source image :param : type image: array :param : param alpha: alpha :param : type alpha: float :param : param beta: beta :param : type beta: float :param : param zoom: zoom :param : type zoom: int :param : param mode: mode anypoint view :param : type mode: int

Returns:

return: anypoint view :rtype: array

Examples

please reference: https://github.com/MoilOrg/moildev

panorama(image, alpha_min, alpha_max)

The panorama image centered at the 3D direction with alpha = iC_alpha_degree and beta = iC_beta_degree

:param : param image: Original image :param : type image: array :param : param alpha_min: min of alpha. by default it 10 degree. :param : type alpha_min: float :param : param alpha_max: max of alpha. The recommended value is half of camera FOV. For example, use

90 for a 180 degree fisheye images and use 110 for a 220 degree fisheye images.

:param : type alpha_max: float

Returns:

return: panorama image :rtype: array

Examples

please reference: https://github.com/MoilOrg/moildev

reverse_image(image, alpha_max, alpha, beta)

To generate the image reverse image from panorama that can change the focus direction from the original images. The panorama reverse image centered at the 3D direction with alpha_max = max of alpha and beta = iC_beta_degree.

:param : param image: source image :param : type image: array :param : param alpha_max: alpha max :param : type alpha_max: float :param : param alpha: alpha :param : type alpha: float :param : param beta: beta :param : type beta: float

Returns:

return: reverse view image :rtype: array

Examples

please reference: https://github.com/MoilOrg/moildev

getAlphaFromRho(rho)

Get the alpha from rho image.

:param : param rho: rho image :param : type rho: int

Returns:

return: alpha :rtype: float

Examples

please reference: https://github.com/MoilOrg/moildev

getRhoFromAlpha(alpha)

Get rho image from alpha given.

:param : param alpha:alpha :param : type alpha: float

Returns:

return: rho image :rtype: int

Examples

please reference: https://github.com/MoilOrg/moildev

get_alpha_beta(coordinateX, coordinateY, mode=1)

Get the alpha beta from specific coordinate image.

:param : param mode: the anypoint mode. :param : type mode: int :param : param coordinateX: the coordinate point X axis. :param : type coordinateX: int :param : param coordinateY: the coordinate point Y axis. :param : type coordinateY: int

Returns:

return: alpha, beta :rtype: float

Examples

please reference: https://github.com/MoilOrg/moildev