Rectified fisheye image

jsk-ros-pkg / jsk_recognition

JSK perception ROS packages

https://github.com/jsk-ros-pkg/jsk_recognition

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Rectified fisheye image #1932

Open tongtybj opened 8 years ago

tongtybj commented 8 years ago

@wkentaro The goal is to achieve the virtual gimbal as the parrot bebop does.

Aright Now, jsk_perception/fisheye_to_panorama.cpp has functions of: 1) panorama, 2) rectification which is orthogonal with center(optical) axis.

I want to extend the second function which can get the rectifed image which is orthogonal with any incident angle.

tongtybj commented 8 years ago

Right now I send a pull request #1931 which is related to this issue.

I tested with a fisheye camera(pointgrey chamelon3, 1280x0124, 220deg) 2016-10-21-fisheye-rectified-opencv3-fisheyemodel

$ roslaunch jsk_perception rectified_fisheye_image.launch
$ rosbag play 2016-10-21-fisheye-rectified-opencv3-fisheyemodel.bag

image_raw rectified_image

wkentaro commented 8 years ago

After googling for a while, it seems that we need to calibrate the fisheye camera to get more rectified region of the frame, but camera_calibration ROS package does not support it currently.

OpenCV3 supports fisheye camera model:
- http://docs.opencv.org/master/db/d58/group__calib3d__fisheye.html
- https://github.com/opencv/opencv/blob/05b15943d6a42c99e5f921b7dbaa8323f3c042c6/samples/cpp/tutorial_code/calib3d/camera_calibration/camera_calibration.cpp
GitHub Issue on image_pipeline to introduce fisheye camera calibration:
- https://github.com/ros-perception/image_pipeline/issues/146

DavidTorresOcana commented 6 years ago

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