Hello,
I am currently working with the fisheyeKannalaBrandtK3 camera model in Isaac Sim and trying to access its intrinsic parameters and distortion coefficients.
In the tutorials, I found the following formula for pinhole cameras:
fx = width * focalLength / horizontalAperture
fy = height * focalLength / verticalAperture
cx = width * 0.5
cy = height * 0.5
However, this formula is for pinhole cameras and not fisheye cameras. I need to know the specific parameters for fisheye lenses, especially the distortion coefficients (k1, k2, k3, etc.) as well as the correct intrinsic parameters (fx, fy, cs, cy) for the fisheyeKannalaBrandtK3 model.
Could anyone help me with detailed information on how to retrieve or calculate these fisheye-specific parameters in Isaac Sim?
Thank you in advance for your assistance!