ocam

ocam: omnidirectional project points

A torch, numpy, MATLAB for python, and python implementation of the projection functions of Scaramuzza's Omnidirectional Camera.

Installation

Clone the repository and install git clone https://github.com/Chris10M/ocamcalib_python.git cd ocamcalib_python python -m pip install .

Optional Dependacies

The conversion scripts for MATLAB intrinsics to JSON intrinsics and JSON to MATLAB intrinsics require MATLAB and MATLAB Engine API for Python.

Tested with MATLAB R2023a

Usage

Command Line

convert_intrinsics_to_matlab_fisheye path/to/fisheye_intrincis.json # output: path/to/fisheye_intrincis.mat convert_matlab_to_intrincis_fisheye path/to/fisheye_intrincis.mat # output: path/to/fisheye_intrincis.json

The fisheye_intrincis.mat can be obtained by following the instructions here or using the Camera Calibration App. I would recommend going with the latter as it is very easy.

Minimal usage script

``` import ocam import numpy as np

Specify the path to the camera calibration JSON file

ocamcalibjson = 'intrinsics.json'

Load the camera calibration model from the JSON file

ocamcalibmodel = ocam.toocammodel(ocamcalibjson)

Generate random 3D points (replace this with your actual 3D points)

numpoints = 10 # Number of 3D points points3D = np.random.rand(numpoints, 1, 3) # Random 3D points with x, y, z coordinates - Nx1x3

Project the 3D points into 2D points using the camera calibration parameters

points2D = ocam.world2camnp(points3D, ocamcalib_model) # points2D - Nx1x2

Print the resulting 2D points

print("Projected 2D points:") print(points2D) ```

The intrinsics.json has the following format, { "pol": [161.14670546203945, 0, -0.00258314253679925, 6.035124622290237e-06, -2.5573236046748687e-08], "width": 640, "height": 480, "xc": 321.3651091048847, "yc": 236.25516320600983, "c": 1.0, "d": 0.0, "e": 0.0, "shift_cx": 1.5283916846915417, "shift_cy": -4.035136165139761, "invpol": [246.60052640819538, -144.4605008632319, -6.62349373938239, -18.73714768763381, 14.831092227950778, 2.7995346430010786, 0.22537325854641585, -4.961875735767433, 1.7473552065804472] } the invpol in computed in ocam.toocammodel function.

More examples:

Check out example.py for more examples.

Citations

If you find this code useful for research, consider citing:

• Original Omnidirectional camera publication, @article{scaramuzza2014omnidirectional, title={Omnidirectional camera}, author={Scaramuzza, Davide and Ikeuchi, Katsushi}, year={2014}, publisher={Springer US} }