undistort using omni model

[christ...@gmail.com]

Hi
I was wondering how I can undistort a pixel if I have an omni-radtan model. I had a look at the paper "A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses" but couldn't find anything helpful (not even the mirror parameter?)...

Thanks

[joern]

It really depends on what you want to accomplish.

If you are interested in rectifying an entire image, please see here:
https://github.com/ethz-asl/kalibr/blob/98d7d17b4d5f044ef33bbe2c24096ba0b09cb724/aslam_cv/aslam_imgproc/include/aslam/OmniUndistorter.hpp

If, instead, you are only interested in obtaining the ray in the direction of the point expressed in camera coordinates, please see here:
https://github.com/ethz-asl/kalibr/blob/a9d5b0ee4e18c05bceee1339e27ba63e358c6c93/aslam_cv/aslam_cameras/include/aslam/cameras/implementation/OmniProjection.hpp#L231-L263

Cheers, Joern

[christ...@gmail.com]

I'll have a look at it. Thanks!

[joern]

Also, although I have never worked with the omni-directional model and am thus not absolutely sure about this, I recall from discussions that this very omnidirectional model was introduced by Mei et al., presumably in this (or a similar work): "Single View Point Omnidirectional Camera Calibration from Planar Grids",

Cheers!