<filename>applications/UCM_GUI.py
#!/usr/bin/env/python
import cv2
import sys
from omnicv import fisheyeImgConv

source_path = sys.argv[1]
video = int(sys.argv[2])

if video:
    cap = cv2.VideoCapture(source_path)
    ret, equiRect = cap.read()
else:
    equiRect = cv2.imread(source_path)
    ret = True

cv2.imshow("Input_Image", equiRect)
cv2.waitKey(1)


def nothing(x):
    pass


WINDOW_NAME = "output"
cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL)
cv2.resizeWindow(WINDOW_NAME, 500, 500)

cv2.createTrackbar("focus", WINDOW_NAME, 90, 150, nothing)
cv2.createTrackbar("distortion", WINDOW_NAME, 1, 200, nothing)
cv2.createTrackbar("alpha", WINDOW_NAME, 180, 360, nothing)
cv2.createTrackbar("beta", WINDOW_NAME, 180, 360, nothing)
cv2.createTrackbar("gamma", WINDOW_NAME, 180, 360, nothing)

outShape = [500, 500]
mapper = fisheyeImgConv()

while ret:
    if video:
        ret, equiRect = cap.read()
        cv2.imshow("Input_Image", equiRect)
        cv2.waitKey(1)
    else:
        ret = True
    f = cv2.getTrackbarPos("focus", WINDOW_NAME)
    dist = cv2.getTrackbarPos("distortion", WINDOW_NAME) / 100
    alpha = cv2.getTrackbarPos("alpha", WINDOW_NAME) - 180
    beta = cv2.getTrackbarPos("beta", WINDOW_NAME) - 180
    gamma = cv2.getTrackbarPos("gamma", WINDOW_NAME) - 180

    fisheye = mapper.equirect2Fisheye(
        equiRect, outShape=outShape, f=f, xi=dist, angles=[alpha, beta, gamma]
    )
    cv2.imshow(WINDOW_NAME, fisheye)
    if cv2.waitKey(1) & 0xFF == ord("q"):
        break
