OpenCV Fisheye Calibration FOV 220

crackwitz · September 18, 2021, 12:09pm

OpenCV currently does not support fisheye cameras with more than 180 degrees.

there seems to be effort to implement APIs for your situation.

I see these issues and pull requests:

Add support for super-fisheye lenses · Issue #15923 · opencv/opencv · GitHub
cv::fisheye::projectPoints ignores 180 degree FOV · Issue #19433 · opencv/opencv · GitHub
WIP Add Super Fisheye Lens Support by danielenricocahall · Pull Request #19904 · opencv/opencv · GitHub
Fisheye model extended with additional plane to support FOV > 90 in projectPoints by dmitry42nd · Pull Request #16926 · opencv/opencv · GitHub
Support for super-fisheye lenses (i.e., opening angles above 180 degr… by vpisarev · Pull Request #6801 · opencv/opencv · GitHub

I notice that the math notation on the fisheye documentation page is awful. someone should file an issue on github and maybe make a patch

github.com

opencv/opencv/blob/15ba3e123f1efa5444951b638ce6bd200054820e/modules/calib3d/include/opencv2/calib3d.hpp#L402-L434

    
      
          @{
            @defgroup calib3d_fisheye Fisheye camera model
          
          
  Definitions: Let P be a point in 3D of coordinates X in the world reference frame (stored in the
            matrix X) The coordinate vector of P in the camera reference frame is:
          
          
  \f[Xc = R X + T\f]
          
          
  where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); call x, y
            and z the 3 coordinates of Xc:
          
          
  \f[x = Xc_1 \\ y = Xc_2 \\ z = Xc_3\f]
          
          
  The pinhole projection coordinates of P is [a; b] where
          
          
  \f[a = x / z \ and \ b = y / z \\ r^2 = a^2 + b^2 \\ \theta = atan(r)\f]
          
          
  Fisheye distortion:
          
          
  \f[\theta_d = \theta (1 + k_1 \theta^2 + k_2 \theta^4 + k_3 \theta^6 + k_4 \theta^8)\f]

This file has been truncated. show original

Topic		Replies	Views
Calibrate fisheye camera of fov 195? C++ super_fisheye	0	66	November 21, 2024
Trying to calibrate Allsky camera using fisheye calibration (fails) Python calib3d , fisheye	1	123	July 11, 2024
Fisheye Stereo ChAruco calibration Python calib3d , fisheye , aruco	2	153	April 17, 2025
Extremely high reprojection error but good undistorted image Python calib3d , fisheye	5	648	October 2, 2024
Problems with fisheye stereo calibration Python calib3d , fisheye , calib	1	197	February 12, 2025

OpenCV Fisheye Calibration FOV 220

Related topics