Fish eye distortion removal about woodscape HOT 2 CLOSED

def make_cylindrical_cam(cam: Camera):
    """generates a cylindrical camera with a centered horizon"""
    assert isinstance(cam.lens, RadialPolyCamProjection)
    # creates a cylindrical projection
    lens = PinholeLens(cam.lens.coefficients[0])
    rot_zxz = SciRot.from_matrix(cam.rotation).as_euler('zxz')
    # adjust all angles to multiples of 90 degree
    rot_zxz = np.round(rot_zxz / (np.pi / 2)) * (np.pi / 2)
    # center horizon
    rot_zxz[1] = np.pi / 2
    # noinspection PyArgumentList
    return Camera(
        rotation=SciRot.from_euler(angles=rot_zxz, seq='zxz').as_matrix(),
        translation=cam.translation,
        lens=lens,
        size=cam.size, principle_point=(cam.cx_offset, cam.cy_offset),
        aspect_ratio=cam.aspect_ratio
    )