Support for fisheye cameras with FOV greater than 120º (equidistant model)

[mgrova]

Dear developer,

First of all, thank you for creating this great tool! It is very useful and intuitive!

As I have seen here, adding support for equidistant fisheye cameras is not on your roadmap due to a lack of data for debugging. If I am not mistaken, these are the fisheye cameras with a FOV greater than 120º.

I am quite interested in this feature, so I could work on it in parallel since I have real data, with fisheye cameras in different positions and 3D LiDAR. In addition to modifying the method for projecting points “cv2.projectPoints” to the version that supports fisheye, do you think there would be any more substantial changes?

Best regards,
Marco.

[mgrova]

Hi again,

I created a PR with this new feature: #13.

[TillBeemelmanns]

Thanks. I will have a look on it in the next days. Do you mind sharing some screenshots in the PR of the Fisheye calibration result? For me it is difficult to check everything without having a rosbag with a fisheye camera images.