converting fisheye to rectilinear image

[TaheraTT]

The code shared in projection.py gives cylindrical image as output. I am trying to convert the fisheye image to rectilinear image. Can someone guide me on how to do that.

[sleepywitti]

Hello TaheraTT,
you need to add the corresponding projection/lens model to convert the images to rectilinear images.

Here is an example, how to do it:

class PinholeLens(Projection):
    def __init__(self, focal_length: typing.Union[float, list]):
        self.focal_length = focal_length if isinstance(focal_length, (float, int)) else focal_length[0]
        self.K = np.array([self.focal_length, self.focal_length, 1], dtype=float)

    def project_3d_to_2d(self, cam_points, invalid_value=np.nan):
        camera_points = ensure_point_list(cam_points, dim=3)
        camera_points = camera_points * self.K
        zs = camera_points[:, 2][:, np.newaxis]
        uv = np.divide(camera_points[:, 0:2], zs, where=(zs != 0))

        # mark points behind the camera (z <= 0) as invalid
        uv[camera_points[:, 2] <= 0] = [invalid_value, invalid_value]
        return uv

    def project_2d_to_3d(self, image_points: np.ndarray, norms: np.ndarray):
        image_points = ensure_point_list(image_points, dim=3)
        norms = ensure_point_list(norms, dim=1)

        xy_normed = image_points / self.K
        xy_normed_norm = np.linalg.norm(np.array(xy_normed), axis=1)
        z = norms / xy_normed_norm[:, np.newaxis]
        return z * xy_normed

Best regards,
Christian

[TaheraTT]

Thanks for the answer Christian. I am able to solve the issue now.

Best Regards
Tahera

[Mrr-Wang]

Thanks for the answer Christian. I am able to solve the issue now.

Best Regards Tahera

Hello Tahera,
How did you solve this problem ,specifically