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support fisheye calibration using opencv 3.0 #146

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protobits opened this issue Aug 17, 2015 · 4 comments · Fixed by #440
Closed

support fisheye calibration using opencv 3.0 #146

protobits opened this issue Aug 17, 2015 · 4 comments · Fixed by #440

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@protobits
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OpenCV 3.0 now has support for fisheye lens calibration and related distortion/projection functions.
This could be used to extend ROS's support towards calibrating and processing images acquired with fisheye lenses.

http://docs.opencv.org/3.0-beta/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#fisheye

I guess one possibility is to add another distortion model keyword, which would indicate these additional functions need to be used. I believe only a skew coefficient is needed as a separate parameter for calibration.
@wkentaro wkentaro mentioned this issue Oct 26, 2016
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@DavidTorresOcana
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Hello
Perhaps too late, but I added this functionality in this fork: image_pipeline

You can calibrate (with a tool) and rectify fisheye cameras.

The results for high FOV (+180deg) are better that those achieved with the current implementation

@DaikiMaekawa
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@DavidTorresOcana Thanks for sharing. I think fisheye is one of the things that has to be supported by image_pipeline. So, it would be nice to include your changes into the upstream repo. What's stands in the way of creating a PR?

@Roemer
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Roemer commented Oct 23, 2019

Any news here? That feature could be really handy.

@SteveMacenski
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SteveMacenski commented Oct 23, 2019 •
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@Roemer PRs welcome. #440 and #441 do the bulk of the work but need someone to help get over the line.

I dont have a fisheye camera or use for one so I need someone with some need for it to respond to comments

@DavidTorresOcana DavidTorresOcana mentioned this issue Oct 27, 2019
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DavidTorresOcana added a commit to DavidTorresOcana/image_pipeline that referenced this issue Oct 27, 2019
@DavidTorresOcana
Add calibration for fisheye cameras
9f0772e 
Fix ros-perception#146
@DavidTorresOcana DavidTorresOcana mentioned this issue Oct 28, 2019
Merged
JWhitleyWork pushed a commit that referenced this issue Nov 7, 2019
@DavidTorresOcana
Add Fisheye calibration tool (#440)
1cdc128 
* Add Fisheye calibration tool

* Add calibration for fisheye cameras
Fix #146

* Correct typo

* Restore camera_calib files permisions

* Upgrades to calibrator tool for multi model calibration

* Solve fisheye balance selection TODO:
For some reason estimateNewCameraMatrixForUndistortRectify is not producing the expected result, hence a workaround was implemented

* Add fisheye calibration flags as user arguments

* Add undistortion of points for fisheye

* cam_calib: rolling back flags
Rolling back changes to previous commit on camera calibrator flags to enable backwards compatibility

* cam_calib: Style formating
wep21 pushed a commit to wep21/image_pipeline that referenced this issue Oct 17, 2021
@DavidTorresOcana
Add Fisheye calibration tool (ros-perception#440)
3756f07 
* Add Fisheye calibration tool

* Add calibration for fisheye cameras
Fix ros-perception#146

* Correct typo

* Restore camera_calib files permisions

* Upgrades to calibrator tool for multi model calibration

* Solve fisheye balance selection TODO:
For some reason estimateNewCameraMatrixForUndistortRectify is not producing the expected result, hence a workaround was implemented

* Add fisheye calibration flags as user arguments

* Add undistortion of points for fisheye

* cam_calib: rolling back flags
Rolling back changes to previous commit on camera calibrator flags to enable backwards compatibility

* cam_calib: Style formating
JWhitleyWork pushed a commit that referenced this issue Nov 11, 2021
@DavidTorresOcana
Add Fisheye calibration tool (#440)
5f62e1b 
* Add Fisheye calibration tool

* Add calibration for fisheye cameras
Fix #146

* Correct typo

* Restore camera_calib files permisions

* Upgrades to calibrator tool for multi model calibration

* Solve fisheye balance selection TODO:
For some reason estimateNewCameraMatrixForUndistortRectify is not producing the expected result, hence a workaround was implemented

* Add fisheye calibration flags as user arguments

* Add undistortion of points for fisheye

* cam_calib: rolling back flags
Rolling back changes to previous commit on camera calibrator flags to enable backwards compatibility

* cam_calib: Style formating
JWhitleyWork pushed a commit that referenced this issue Apr 14, 2022
@DavidTorresOcana @JWhitleyWork
Add Fisheye calibration tool (#440)
2640ed1 
* Add Fisheye calibration tool

* Add calibration for fisheye cameras
Fix #146

* Correct typo

* Restore camera_calib files permisions

* Upgrades to calibrator tool for multi model calibration

* Solve fisheye balance selection TODO:
For some reason estimateNewCameraMatrixForUndistortRectify is not producing the expected result, hence a workaround was implemented

* Add fisheye calibration flags as user arguments

* Add undistortion of points for fisheye

* cam_calib: rolling back flags
Rolling back changes to previous commit on camera calibrator flags to enable backwards compatibility

* cam_calib: Style formating
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5 participants
@protobits @Roemer @DaikiMaekawa @DavidTorresOcana @SteveMacenski