FisheyeToPinholeSampler

[LamHoCN]

hey brummi ~ I have some question with FisheyeToPinhole. I tried to visualize the fisheye img after this sample function. I used the kitti360 data_fisheye_calibration data and calibration results which you support, and then I used the resamle function, after resampling it cut a lot, a lot of information is missing, I was wondering if I could focus on the fisheye camera information, Maybe I don't need such resample ? Looking forward to your reply, really appreciate.

[Brummi]

Hi! I am glad that you like our method!

Yes, the Crop is quite narrow, but this way it has exactly the same camera intrinsics as the other cameras.

In theory, you could also directly cast and project rays from and to the fisheye camera. However, these operations involve more steps and can't be vectorized as easily as with pinhole camera. Having two different camera models would make the pipeline quite a bit more complex. But it is definitely possible and then you also wouldnt need the resampling.

You would have to adapt the ray samplers and the projection and the color sampling.

Let me know if you make it work. :D

Best, Felix

[LamHoCN]

Hi~ Felix! Thanks for your reply. I will try it in different camera models(opencv fisheye or fisheye rectifiction ...) I will let you know, If it work ~ :D Best, merlin