Fisheye lens parameters modification

[a.adjanohoun]

Hello everyone. I’m trying to modify camera parameters programmatically (with python) to try diferents options for data générations and computer vision algorithms testing. Sadly, i can’t figure out how to modify fisheye lens properties, as they are not part of the standard pixar’s usd implementation.

Anyone has the same issue or a solution to this problem ?

[rthaker]

Hi @a.adjanohoun - Please go through these documentations and forum posts and let us know if you have more follow up questions.

https://docs.opencv.org/4.x/db/d58/group__calib3d__fisheye.html

https://docs.omniverse.nvidia.com/app_isaacsim/prod_materials-and-rendering/cameras.html

How to insert camera intrinsic matrix and distortion coefficients for the camera other than fisheyePolynomial

I am looking at the following link: https://docs.omniverse.nvidia.com/app_isaacsim/prod_materials-and-rendering/103/cameras.html Are the properties nominal width/height, offset center X/Y referring to the camera intrinsic values fx,fy,cx,cy? Is there a way to insert camera intrinsic values and distortion coefficients for popular opencv camera models such as plumb_bob? Thanks.

How to make use of Equidistant fisheye model in Isaac Simulation

Hi All, I’m pretty new to Omniverse and Isaac simulation. I recently tried to do something with robot simulation samples and add some different cameras to test. I read the docs and found all the distortion parameters are not in use for the Equidistant fisheye model. Though may not fully support, since the model is there, I suppose there should be a default model and setting for the Equidistant model. I tried OpenCV’s cv::fisheye::undistortImage function but the output images are not same with …

[a.adjanohoun]

Hello. So what you’re saying is that i should distord the images myself after getting them according to my own parameters. Thank you for the reminder. I just thought nvidia made some kind of commands or extendind the usd library for the camera.