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oliver-batchelor / multical

Multi-camera calibration using one or more calibration patterns
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Add fisheye camera calibration #24

Closed decamargo10 closed 2 years ago

decamargo10 commented 2 years ago

Hello, first of all, I want to thank you for your great work! As there is no fisheye calibration included yet (#16), here is a way to include fisheye cameras using the arg --isFisheye True. I successfully calibrated a set of 3 fisheye cameras and visualized the results. Basically, I just copied the camera class and replaced the OpenCV calls. However, I encountered an issue where empty error arrays were handed into calibration/error_stats() which caused errors (this does not only happen to me when using fisheye calibration but also the regular one). I don't know if my 'fix' for this is ideal, it seems to work though, and as far as I understand, it does not influence the results in any way. Please let me know about things you want to have changed.

oliver-batchelor commented 2 years ago

Thanks! Very nice - I'll have to have a little think how to choose the camera model properly, but this is a great additon!

Is there a chance you could share the images for the fisheye calibration you did? I need to publish some test images for the library and some fisheye ones would be great along side others.

decamargo10 commented 2 years ago

Sure, I can upload them somewhere. Just let me know the best way to provide them to you (~730mb of images).

oliver-batchelor commented 2 years ago

Could you copy them to a google drive? If you send me an email at oliver.batchelor@cantebrury.ac.nz I can add you (as it seems there's no way to send a message privately here and it would be better not to share a publicly writable location!).

Thanks, Oliver

steczol commented 1 year ago

Thank you for your work. Is there any possibility to estimate the extrinsics between a fisheye camera (main camera) and a regular camera? As far as I understand the arguments to multical calibrate you can switch between no fisheye and all fisheye, right?

oliver-batchelor commented 1 year ago

Yes, that's right.

In principle, it's not an issue. It just needs some way to provide the configuration to set it up that way. I imagine something like a config file (yaml/json etc.) where you describe the cameras/camera model setup ahead of time would do the job for a general solution.

However, you can use the code as a python library to do it as a once-off and change the relevant parts where it is setting up the camera models.

Cheers, Oliver

On Fri, Jan 27, 2023 at 6:29 AM steczol @.***> wrote:

Thank you for your work. Is there any possibility to estimate the extrinsics between a fisheye camera (main camera) and a regular camera? As far as I understand the arguments to multical calibrate you can switch between no fisheye and all fisheye, right?

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