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Cylindrical Projection

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3d coordinate -> cylinder coordinate -> warped image

3d coordinate to cylinder coordinate


if a point in 3dimension is (X, Y, Z) ...


theta = atan(X/Z)

h = Y/sqrt(X^2+Z^2);


cylinder coordinate to warped images


x' = f*theta + 0.5 * alpha

y' = f*h + yp


it is called forward mapping. this method has one problem that include holes in image.

therefore, we can use linear or bilinear interpolation..

or.. we can use backward mapping .

a result of backward maaping is better than forward maapping.

Therefore, in the following implementations, we choose the warping method based on backward mapping instead of that on forward mapping.


Experiments

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