nlw0
commented
8 years ago AFAIK this code here relies on undistorted images. You will have to crop your image and work with whatever parameters fit this lens the best. Or undistort independently with a more accurate model, but still you'll need to crop since you 180 is too much for the pinhole model.
Currently I am trying to implement lsd_slam using a 180 degree fisheye camera. However there does not seem to be a way to implement the equidistant camera model. I am using the kalibr calibration package to get the camera intrinsics. That is, kalibr gives me k1, k2, k3, and k4 as distortion parameters rather than k1, k2, p1, and p2. I know the authors used a fisheye as well, and was wondering how they implemented this and what distortion model they used.