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1 | initial version |
The quality of calibration will depend on the type of lens you´re using. For very high FOV lenses, camera calibration will likely fail or give unusable results, as the pinhole camera model that is used behind the scenes via OpenCV does not work with high FOV (> 180 deg, projecting points onto an image plane and all that). See also this answer at stackoverflow. For moderate fish-eye effect, calibration might work, though.
Your best bet is probably using OCamCalib for determining proper calibration (see also comment in the link I posted above). After determining calibration parameters, you should be able to use your own variants of the world2cam and cam2world functions (If possible, you could even provide a ROS package, so everybody can use them ;) ).
2 | No.2 Revision |
The quality of calibration will depend on the type of lens you´re using. For very high FOV lenses, camera calibration will likely fail or give unusable results, as the pinhole camera model that is used behind the scenes via OpenCV does not work with high FOV (> 180 deg, projecting points onto an image plane and all that). See also this answer at stackoverflow. For moderate fish-eye effect, calibration might work, though.
Your best bet is probably using OCamCalib for determining proper calibration (see also comment in the link I posted above). After determining calibration parameters, you should be able to use your own variants of the world2cam and cam2world functions (If possible, you could even provide a ROS package, package with their implementation, so everybody can use them ;) ).