103 lines
4.1 KiB
Python
103 lines
4.1 KiB
Python
# RozK
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import math
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print("\n--- physical sensor ---\n")
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# https://www.sony-semicon.com/files/62/pdf/p-13_IMX677-AAPH5-J_Flyer.pdf
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sensor_array_horizontal = 5700 # p
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sensor_array_vertical = 5160 # p
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sensor_array_diagonal = math.hypot(sensor_array_horizontal, sensor_array_vertical)
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sensor_pixel_size = 1.12 * 0.001 # mm
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sensor_size_horizontal = sensor_array_horizontal * sensor_pixel_size
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sensor_size_vertical = sensor_array_vertical * sensor_pixel_size
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sensor_size_diagonal = math.hypot(sensor_size_horizontal, sensor_size_vertical)
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print("sensor size : horizontal = %7.3f, vertical = %7.3f, diagonal = %7.3f (mm)" % (
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sensor_size_horizontal,
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sensor_size_vertical,
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sensor_size_diagonal))
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# https://community.gopro.com/s/article/HERO11-Black-Video-Settings-And-Resolutions
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gopro_array_horizontal = 5312 # p
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gopro_array_vertical = 4648 # p
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gopro_array_diagonal = math.hypot(gopro_array_horizontal, gopro_array_vertical)
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gopro_size_horizontal = (gopro_array_horizontal / sensor_array_horizontal) * sensor_size_horizontal
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gopro_size_vertical = (gopro_array_vertical / sensor_array_vertical) * sensor_size_vertical
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gopro_size_diagonal = (gopro_array_diagonal / sensor_array_diagonal) * sensor_size_diagonal
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print("gopro size : horizontal = %7.3f, vertical = %7.3f, diagonal = %7.3f (mm)" % (
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gopro_size_horizontal,
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gopro_size_vertical,
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gopro_size_diagonal))
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# https://thinglabs.io/gopro-focal-radius-guide
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gopro_focal_length = 2.92 # mm
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gopro_radius_horizontal = gopro_size_horizontal * 0.5
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gopro_radius_vertical = gopro_size_vertical * 0.5
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gopro_radius_diagonal = gopro_size_diagonal * 0.5
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# https://en.wikipedia.org/wiki/Fisheye_lens
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equidistant_angle = lambda radius: math.degrees(radius / gopro_focal_length)
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gopro_fov_horizontal = 2.0 * equidistant_angle(gopro_radius_horizontal)
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gopro_fov_vertical = 2.0 * equidistant_angle(gopro_radius_vertical)
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gopro_fov_diagonal = 2.0 * equidistant_angle(gopro_radius_diagonal)
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print("gopro fov : horizontal = %7.3f, vertical = %7.3f, diagonal = %7.3f (deg)" % (
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gopro_fov_horizontal,
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gopro_fov_vertical,
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gopro_fov_diagonal))
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print("\n--- rectilinear re-projection, preserving vertical fov ---\n")
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rectilinear_focal_length = lambda radius: radius * math.tan(math.radians(90.0 - equidistant_angle(radius)))
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rectilinear_focal_length_horizontal = rectilinear_focal_length(gopro_radius_horizontal)
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rectilinear_focal_length_vertical = rectilinear_focal_length(gopro_radius_vertical)
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rectilinear_focal_length_diagonal = rectilinear_focal_length(gopro_radius_diagonal)
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print("linear focal: horizontal = %7.3f, vertical = %7.3f, diagonal = %7.3f (mm)" % (
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rectilinear_focal_length_horizontal,
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rectilinear_focal_length_vertical,
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rectilinear_focal_length_diagonal))
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rectilinear_radius = lambda angle, focal_length: focal_length * math.tan(math.radians(angle))
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rectilinear_angle = lambda radius, focal_length: math.degrees(math.atan(radius / focal_length))
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preserved_fov_horizontal = 2.0 * rectilinear_angle(gopro_radius_horizontal, rectilinear_focal_length_vertical)
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preserved_fov_vertical = 2.0 * rectilinear_angle(gopro_radius_vertical, rectilinear_focal_length_vertical)
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preserved_fov_diagonal = 2.0 * rectilinear_angle(gopro_radius_diagonal, rectilinear_focal_length_vertical)
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print("linear fov : horizontal = %7.3f, vertical = %7.3f, diagonal = %7.3f (deg)" % (
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preserved_fov_horizontal,
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preserved_fov_vertical,
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preserved_fov_diagonal))
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print("\n--- shader parameters ---\n")
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rectilinear_angle_horizontal = rectilinear_angle(gopro_radius_horizontal, rectilinear_focal_length_horizontal)
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preserved_radius_horizontal = rectilinear_radius(rectilinear_angle_horizontal, rectilinear_focal_length_vertical)
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pixel_scale = gopro_radius_horizontal / preserved_radius_horizontal
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print("""// parameters
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const vec2 sensor_size = vec2(%.6f, %.6f);
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const vec2 pixel_scale = vec2(%.6f, 1.0);
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const float equidistant_focal_length = %.6f;
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const float rectilinear_focal_length = %.6f;
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""" % (
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gopro_size_horizontal, gopro_size_vertical,
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pixel_scale,
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gopro_focal_length,
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rectilinear_focal_length_vertical)
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)
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