Function estimateWorldCameraPose() or extrinsics() for fisheyeParameters is missing. Is it possible to change these functions for fisheye?
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I am using a camera system which has a fisheye lens. I have calibrated the camera and I have the intrinsics. I want to estimate the extrinsics and camerapose for the camera. I have imagePoints, worldPoints and parameters of the camera.
But the function - estimateWorldCameraPose() cannot accept fisheyeParamaters or fisheyeIntrinsics.
My error is -
Error using estimateWorldCameraPose
Expected cameraParams to be one of these types:
Instead its type was fisheyeIntrinsics.
Is it possible to change these functions for fisheye?
Or is it mathematically not possible?
Qu Cao on 16 Jun 2020
fisheyeIntrinsics can't be used directly. Instead, you can use undistortFisheyeImage function to produce both undistorted image for further processing and a "virtual perspective" camera intrinsics. See syntax which returns "camIntrinsics"
The new camIntrinsics can then be used in workflows involving a pinhole camera. It is a virtual pinhole camera created from the original fisheye camera. This new intrinsics object (non-fisheye) can then be fed into estimateWorldCameraPose.