#!/bin/bash # # Developed by Fred Weinhaus 8/10/2008 .......... revised 1/17/2022 # # ------------------------------------------------------------------------------ # # Licensing: # # Copyright © Fred Weinhaus # # My scripts are available free of charge for non-commercial use, ONLY. # # For use of my scripts in commercial (for-profit) environments or # non-free applications, please contact me (Fred Weinhaus) for # licensing arrangements. My email address is fmw at alink dot net. # # If you: 1) redistribute, 2) incorporate any of these scripts into other # free applications or 3) reprogram them in another scripting language, # then you must contact me for permission, especially if the result might # be used in a commercial or for-profit environment. # # My scripts are also subject, in a subordinate manner, to the ImageMagick # license, which can be found at: http://www.imagemagick.org/script/license.php # # ------------------------------------------------------------------------------ # #### # # USAGE: fisheye2pano [-w width] [-e extend] [-h hcen,hran] [-f format] [-p pfov] [-c xc,yc] [-v vcen,vrad] [-r radius] [-vp vpmethod] [-b bgcolor] infile outfile # USAGE: fisheye2pano -d [-c xc,yc] [-r radius] [-s strokecolor] infile outfile # USAGE: fisheye2pano [-help] # # OPTIONS: # # -w width width of output; default is same as input # -e extend percentage to extend height of output from # natural size. Only allowed for perspective formats. # -h hcen,hran horizontal angular center of output and horizontal # angular range between left and right side of output; # default=0,360; where hcen increases clockwise # from the top center of the input as seen from # its center and must be between 0 and 360. # -f format output vertical format; angle (A), tilt (T) (perspective), # or level (L) (perspective); default=angle # -p pfov perspective image vertical field of view in degrees; # float; 00; default=min(width,height)/2 # -d draw circle on the input fisheye image of specified radius, # center and color=scolor, which will then become the output # -s scolor scolor is the stroke color for a circle that will be # drawn on the input fisheye image; default=white # -vp vpmethod virtual-pixel method to use to fill area of output image # that are outside the input image; default=black # -b bgcolor background color for virtual-pixel=background # any valid IM color is allowed. The default=black # ### # # NAME: FISHEYE2PANO # # PURPOSE: To generate a strip panoramic image from a linear type fisheye image # with optional vertical perspective correction. # # DESCRIPTION: FISHEYE2PANO generates a strip panoramic image from a linear type # fisheye image. The output formats are either angle, tilt perspective or # level perspective. These describe the vertical format for the image, where # the latter two are perspectively corrected. The tilt perspective will be a # tilted view with the mid radius at the center of the perspective. The level # perspective will be looking horizontally. The horizontal format will always # be angle. # # ARGUMENTS: # # -w width ... WIDTH is the desired width for the output image. # If not specified, then the width of the output will be identical to # that of the input or to 2*radius of circular area of the input if # provided. If the width is adjusted then the height will be adjusted # in proportion. # # -e extend ... EXTEND is the percentage to increase the height of the # output from its natural size. A value of 100 results in the natural # height. The natural height is (vrange/360)*width, where vrange is the input # fisheye image vertical range of view and is given by abs(vcen-vrad). # This is only allowed for the two perspective output formats. It will not # change the scale of the image in the vertical dimension. It only allows # more data to be viewed. # # -h hcen,aran ... HCEN,HRAN are the angular direction for the horizontal center # of the output image and the horizontal angular range between left and right side # of the output; default=0,360; where hcen increases clockwise from the top center # of the input as seen from its center and must be between 0 and 360. # # -f format ... FORMAT is the output image vertical format. The choices are: # angle (A), tilt (T) perspective and level (L) perspective. (Note: the output # image horizontal format is always angle.) The default is angle. If tilt (T) is # chosen, then the output image will have perspective correction applied in the # vertical direction and the image will be centered about the mid-angle of the # fisheye image. In other words a tilted vertical perspective will be produced. # If level (L) is chosen, then the output image will also have perspective # correction applied in the vertical direction. But the view will be one that # is not tilted, but looking horizontally. The horizon line will be at or near the top # of the outpt image for a fisheye image whose center is the nadir and will be # at or near the bottom of the output image for a fisheye image whose center is the zenith. # The exact placement depends upon the ratio of vrad to vrange=abs(vcen-vrad). # The level format is generally only useful for the latter case and especially # with hyperwide fisheye images whose field of view across the circular area # diameter is greater than 180 degrees. # # -p pfov ... PFOV is the vertical output perspective image field of view # in degrees. Values are floats in the range 0&2 "" echo >&2 "$PROGNAME:" "$@" sed >&2 -e '1,/^####/d; /^###/g; /^#/!q; s/^#//; s/^ //; 4,$p' "$PROGDIR/$PROGNAME" } usage2() { echo >&2 "" echo >&2 "$PROGNAME:" "$@" sed >&2 -e '1,/^####/d; /^######/g; /^#/!q; s/^#*//; s/^ //; 4,$p' "$PROGDIR/$PROGNAME" } # function to report error messages errMsg() { echo "" echo $1 echo "" usage1 exit 1 } # function to test for minus at start of value of second part of option 1 or 2 checkMinus() { test=`echo "$1" | grep -c '^-.*$'` # returns 1 if match; 0 otherwise [ $test -eq 1 ] && errMsg "$errorMsg" } # test for correct number of arguments and get values if [ $# -eq 0 ] then # help information echo "" usage2 exit 0 elif [ $# -gt 22 ] then errMsg "--- TOO MANY ARGUMENTS WERE PROVIDED ---" else while [ $# -gt 0 ] do # get parameter values case "$1" in -help) # help information echo "" usage2 exit 0 ;; -w) # get width shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID WIDTH SPECIFICATION ---" checkMinus "$1" dwidth=`expr "$1" : '\([0-9]*\)'` [ "$dwidth" = "" ] && errMsg "--- WIDTH=$dwidth MUST BE A NON-NEGATIVE INTEGER ---" dwidthtestA=`echo "$dwidth <= 0" | bc` [ $dwidthtestA -eq 1 ] && errMsg "--- WIDTH=$dwidth MUST BE AN INTEGER GREATER THAN 0 ---" ;; -e) # get extended height percentage shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID EXTEND SPECIFICATION ---" checkMinus "$1" extend=`expr "$1" : '\([.0-9]*\)'` [ "$extend" = "" ] && errMsg "--- EXTEND=$extend MUST BE A NON-NEGATIVE FLOAT ---" extendtestA=`echo "$extend <= 0" | bc` [ $extendtestA -eq 1 ] && errMsg "--- EXTEND=$extend MUST BE A FLOAT GREATER THAN 0 ---" ;; -h) # get hcen,hran = thetacenter,thetarange for output shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID HORIZONTAL ANGLE SPECIFICATIONS ---" checkMinus "$1" test=`echo "$1" | tr "," " " | wc -w` [ $test -gt 2 ] && errMsg "--- INCORRECT NUMBER OF HORIZONTAL ANGLE VALUES SUPPLIED ---" vals=`expr "$1" : '\([.0-9]*,[.0-9]*\)'` [ "$vals" = "" ] && vals=`expr "$1" : '\([.0-9]*\)'` [ "$vals" = "" ] && errMsg "--- ANGLES=$vals MUST BE ONE FLOAT OR A PAIR OF NON-NEGATIVE FLOATS SEPARATED BY A COMMA ---" thetacenter=`echo "$vals," | cut -d, -f1` thetarange=`echo "$vals," | cut -d, -f2` [ "$thetarange" = "" ] && thetarange=360 ctest=`echo "$thetacenter < 0 || $thetacenter > 360" | bc` [ $ctest -eq 1 ] && errMsg "--- HCEN=$thetacenter MUST BE BETWEEN 0 AND 360 DEGREES ---" ;; -v) # get vcen,vrad = phicenter,phiradius for output shift # to get the next parameter # no test if parameter starts with minus sign #errorMsg="--- INVALID VERTICAL ANGLE SPECIFICATIONS ---" #checkMinus "$1" test=`echo "$1" | tr "," " " | wc -w` [ $test -ne 2 ] && errMsg "--- INCORRECT NUMBER OF VERTICAL ANGLE VALUES SUPPLIED ---" vals=`expr "$1" : '\([-.0-9]*,[-.0-9]*\)'` [ "$vals" = "" ] && errMsg "--- ANGLES=$vals MUST BE A PAIR OF FLOATS SEPARATED BY A COMMA ---" phicenter=`echo "$vals" | cut -d, -f1` phiradius=`echo "$vals" | cut -d, -f2` ctest=`echo "$phicenter < -180 || $phicenter > 180" | bc` rtest=`echo "$phiradius < -180 || $phiradius > 180" | bc` equaltest=`echo "$phiradius == $phicenter" | bc` [ $ctest -eq 1 ] && errMsg "--- VC=$phicenter MUST BE BETWEEN -180 AND 180 DEGREES ---" [ $rtest -eq 1 ] && errMsg "--- VR=$phiradius MUST BE BETWEEN -180 AND 180 DEGREES ---" [ $equaltest -eq 1 ] && errMsg "--- VR=$phiradius MAY NOT BE EQUAL ---" ;; -f) # get format shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID FORMAT SPECIFICATION ---" checkMinus "$1" case "$1" in angle) format="angle";; A) format="angle";; a) format="angle";; tilt) format="tilt";; T) format="tilt";; t) format="tilt";; level) format="level";; L) format="level";; l) format="level";; esac ;; -p) # get pfov shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID PFOV SPECIFICATION ---" checkMinus "$1" pfov=`expr "$1" : '\([.0-9]*\)'` [ "$pfov" = "" ] && errMsg "--- PFOV=$pfov MUST BE A NON-NEGATIVE FLOAT ---" pfovtestA=`echo "$pfov <= 0" | bc` pfovtestB=`echo "$pfov >= 180" | bc` [ $pfovtestA -eq 1 -o $pfovtestB -eq 1 ] && errMsg "--- PFOV=$pfov MUST BE A FLOAT GREATER THAN 0 AND LESS THAN 180 ---" ;; -c) # get center of fisheye coords shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID FISHEYE CENTER COORDS SPECIFICATION ---" checkMinus "$1" test=`echo "$1" | tr "," " " | wc -w` [ $test -eq 1 -o $test -gt 2 ] && errMsg "--- INCORRECT NUMBER OF COORDINATES SUPPLIED ---" coords=`expr "$1" : '\([.0-9]*,[.0-9]*\)'` [ "$coords" = "" ] && errMsg "--- CENTE COORDS=$coords MUST BE A PAIR OF NON-NEGATIVE FLOATS SEPARATED BY A COMMA ---" coords="$1," xc=`echo "$coords" | cut -d, -f1` yc=`echo "$coords" | cut -d, -f2` ;; -r) # get rad shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID RADIUS SPECIFICATION ---" checkMinus "$1" rad=`expr "$1" : '\([.0-9]*\)'` [ "$rad" = "" ] && errMsg "--- RADIUS=$rad MUST BE A NON-NEGATIVE FLOAT ---" radtestA=`echo "$rad <= 0" | bc` [ $radtestA -eq 1 ] && errMsg "--- RADIUS=$rad MUST BE A FLOAT GREATER THAN 0 ---" ;; -s) # get scolor shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID STROKE COLOR SPECIFICATION ---" checkMinus "$1" sc="$1" ;; -d) # enable draw circle draw="yes" ;; -vp) # get vpmethod shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID VIRTUAL-PIXEL SPECIFICATION ---" checkMinus "$1" vpmethod="$1" ;; -b) # get bgcolor shift # to get the next parameter # test if parameter starts with minus sign errorMsg="--- INVALID BACKGROUND COLOR SPECIFICATION ---" checkMinus "$1" bgcolor="$1" ;; -) # STDIN and end of arguments break ;; -*) # any other - argument errMsg "--- UNKNOWN OPTION ---" ;; *) # end of arguments break ;; esac shift # next option done # # get infile and outfile infile="$1" outfile="$2" fi # test that infile provided [ "$infile" = "" ] && errMsg "NO INPUT FILE SPECIFIED" # test that outfile provided [ "$outfile" = "" ] && errMsg "NO OUTPUT FILE SPECIFIED" tmpA="$dir/fisheye2pano_$$.mpc" tmpB="$dir/fisheye2pano_$$.cache" trap "rm -f $tmpA $tmpB;" 0 trap "rm -f $tmpA $tmpB; exit 1" 1 2 3 15 trap "rm -f $tmpA $tmpB; exit 1" ERR # get im_version im_version=`convert -list configure | \ sed '/^LIB_VERSION_NUMBER */!d; s//,/; s/,/,0/g; s/,0*\([0-9][0-9]\)/\1/g' | head -n 1` if [ "$im_version" -ge "07000000" ]; then identifying="magick identify" else identifying="identify" fi if convert -quiet "$infile" +repage "$tmpA" then swidth=`$identifying -format %w $tmpA` sheight=`$identifying -format %h $tmpA` # compute last pixels sw1=`convert xc: -format "%[fx:$swidth-1]" info:` sh1=`convert xc: -format "%[fx:$sheight-1]" info:` # compute sdim sdim=$sheight [ "$rad" != "" ] && sdim=`convert xc: -format "%[fx:2*$rad]" info:` # compute half-widths of input (source) fisheye image sw2=`convert xc: -format "%[fx:$sw1/2]" info:` sh2=`convert xc: -format "%[fx:$sh1/2]" info:` # compute center of input (source) fisheye image if [ "$xc" = "" ]; then xcs=$sw2 else xcs=$xc fi if [ "$yc" = "" ]; then ycs=$sh2 else ycs=$yc fi # compute width dimension of output (destination) image if [ "$dwidth" = "" ]; then dwidth=$sdim fi # compute ifov ifov=`convert xc: -format "%[fx:2*abs($phiradius-$phicenter)]" info:` # get pfov if not provided [ "$pfov" = "" ] && pfov=`convert xc: -format "%[fx:$ifov/2]" info:` test=`echo "$pfov >= 180" | bc` [ "$test" = "1" ] && errMsg="--- PFOV=$pfov MUST BE LESS THAN 180 DEG ---" # compute angular aspect ratio = vrange/360 = (ifov/2)/360 aspect=`convert xc: -format "%[fx:$ifov/720]" info:` # compute output height dheight=`convert xc: -format "%[fx:floor($aspect*$dwidth)]" info:` ddim=$dheight hratio=`convert xc: -format "%[fx:$sdim/$ddim]" info:` # compute extended height if [ "$format" = "angle" ]; then height=$dheight elif [ "$format" != "angle" -a "$extend" = "100" ]; then height=$dheight elif [ "$format" != "angle" -a "$extend" != "100" ]; then height=`convert xc: -format "%[fx:floor($extend*$dheight/100)]" info:` fi # compute half-height of output (destination) image h2=`convert xc: -format "%[fx:($height-1)/2]" info:` # compute vertical center of output (destination) image ycd=$h2 # get mode if [ `echo "$phicenter < $phiradius" | bc` -eq 1 ]; then mode="nadir" else mode="zenith" fi else errMsg "--- FILE $infile DOES NOT EXIST OR IS NOT AN ORDINARY FILE, NOT READABLE OR HAS ZERO SIZE ---" fi # Pertinent equations: # note phi=fov/2; fov=field of view (aperture) # note r=N/2; N=min(width,height) # perspective: r=f*tan(phi); f=r/tan(phi); f=(N/2)/tan((fov/2)*(pi/180))=N/(2*tan(fov*pi/360)) # linear: r=f*phi; f=r/phi; f=(N/2)/((fov/2)*(pi/180))=N*180/(fov*pi) # equalarea: r=2*f*sin(phi/2); f=(r/2)/sin(phi/2); f=(N/4)/(sin((fov/4)*(pi/180)))=N/(4*sin(fov*pi/720)) # orthographic: r=f*sin(phi); f=r/sin(phi); f=(N/2)/sin((fov/2)*(pi/180))=N/(2*sin(fov*pi/360)) # stereographic: r=2*f*tan(phi/2); f=(r/2)/tan(phi/2); f=(N/4)/(tan((fov/4)*(pi/180)))=N/(4*tan(fov*pi/720)) im_version=`convert -list configure | \ sed '/^LIB_VERSION_NUMBER */!d; s//,/; s/,/,0/g; s/,0*\([0-9][0-9]\)/\1/g' | head -n 1` # see Bourke diagram at http://local.wasp.uwa.edu.au/~pbourke/projection/fish2/ # updated at http://paulbourke.net/dome/2fish/index.html # define transform terms" # NOTE: phi added as a constant to -fx as of IM 6.7.3.4. So need to change its name if used in -fx if [ "$format" = "tilt" -o "$format" = "level" ]; then # compute perspective focal length from fov pfoc=`convert xc: -format "%[fx:$ddim/(2*tan($pfov*pi/360))]" info:` # compute phioffset for offset angle corresponding to center of output # where phioffset is relative to phi=0 at center of input # e.g. phi for mid-radius is at phirange/2 = (phiradius-phicenter)/2 if [ "$format" = "tilt" ]; then phioffset=`convert xc: -format "%[fx:(pi/180)*abs(($phiradius-$phicenter))/2]" info:` elif [ "$format" = "level" ]; then phioffset=`convert xc: -format "%[fx:abs($phicenter)*(pi/180)]" info:` [ "$mode" = "nadir" ] && ycd=`convert xc: -format "%[fx:$height*2*$phiradius/$ifov]" info:` [ "$mode" = "zenith" ] && ycd=`convert xc: -format "%[fx:$height*(1+2*$phiradius/$ifov)]" info:` fi # get yd relative to center point of output # yd is opposite to j for output as yd is spatial y and not image y=j yd="yd=-(j-$ycd);" # for nadir, yd increases as phi increases from center of fisheye # for zenith, yd decreases as phi increases from center of fisheye # get phi relative to center of output perspective # phi=atan(y/f) which here corresponds to 0 at center of fisheye # then add phioffset corresponding to some fraction of phirange for look point [ "$mode" = "nadir" ] && phiang="phiang=atan2(yd,$pfoc)+$phioffset;" [ "$mode" = "zenith" ] && phiang="phiang=atan2(-yd,$pfoc)+$phioffset;" # apply linear fisheye equation to relate phi to rr # note factor hratio used to scale from output height to input height as phi is defined in unscaled input ifoc=`convert xc: -format "%[fx:($ddim*180)/($ifov*pi)]" info:` rr="rr=$hratio*$ifoc*phiang;" else yd="" phiang="" # rr is proportional to row from top or bottom of output image # note: aspectinv is used to scale from outut to input vertical dimensions as rr is in input space [ "$mode" = "nadir" ] && rr="rr=$hratio*(h-1-j)/2;" [ "$mode" = "zenith" ] && rr="rr=$hratio*j/2;" fi # compute thetamin, theta0=thetamin+phase, theta1=thetarange # where phase is added to get center of output to correspond to top of input # normally phase=0 is along x axis, but we want it to be along y axis phase=-90 thetamin=`convert xc: -format "%[fx:$thetacenter-($thetarange/2)]" info:` theta0=`convert xc: -format "%[fx:($thetamin+$phase)*pi/180]" info:` theta1=`convert xc: -format "%[fx:($thetarange)*pi/180]" info:` # compute xs,ys from theta and rr # note: theta defined for any output size to span between theta0 and (theta1+theta0) [ "$mode" = "nadir" ] && theta="theta=$theta1*(i/(w-1))+$theta0;" [ "$mode" = "zenith" ] && theta="theta=$theta1*((w-1-i)/(w-1))+$theta0;" xs="xs=rr*cos(theta)+$xcs;" ys="ys=rr*sin(theta)+$ycs;" if false; then # debugging - show echo results if set to true echo "swidth=$swidth; sheight=$sheight; sdim=$sdim; sw2=$sw2; sh2=$sh2" echo "dwidth=$dwidth; dheight=$dheight; height=$height; ddim=$ddim; h2=$h2" echo "hratio=$hratio; xcs=$xcs; ycs=$ycs; ycd=$ycd;" echo "thetamin=$thetamin; theta0=$theta0; theta1=$theta1" echo "pfov=$pfov; pfoc=$pfoc; phioffset=$phioffset" echo "phiang=$phiang; theta=$theta; rr=$rr" echo "yd=$yd; xs=$xs; ys=$ys;" echo "format=$format; mode=$mode; ifov=$ifov; aspect=$aspect; hratio=$hratio" fi # process image if [ "$draw" = "yes" ] then [ "$rad" = "" ] && rad=`convert xc: -format "%[fx:min($sw2,$sh2)]" info:` xr=`convert xc: -format "%[fx:$xcs+$rad]" info:` convert $tmpA -fill none -stroke "$sc" -draw "circle $xcs,$ycs $xr,$ycs" "$outfile" else convert \( -size ${dwidth}x${height} xc: \) $tmpA \ -virtual-pixel $vpmethod -background $bgcolor -monitor \ -fx "$yd $phiang $rr $theta $xs $ys v.p{xs,ys}" \ "$outfile" fi exit 0