Fish eye distortion removal

[carlsummer]

Here is my code on how to remove the distortion of fish eyes

import numpy as np
import cv2

# 输入相机参数
camera_params = {
  "extrinsic": {
    "quaternion": [
      0.6202204286587283,
      -0.6042974885762495,
      0.36354706163082123,
      -0.34348900878254707
    ],
    "translation used in CARLA (CARLA reference)": [
      1.92,
      0.0,
      0.9
    ]
  },
  "intrinsic": {
    "aspect_ratio": 1.00021,
    "cx_offset": 0.329055,
    "cy_offset": -3.5506,
    "height": 966.0,
    "k1": 341.725,
    "k2": -26.4448,
    "k3": 32.7864,
    "k4": 0.50499,
    "model": "radial_poly",
    "poly_order": 4,
    "width": 1280.0
  },
  "name": "FV"
}


# 提取内参
intrinsic = camera_params["intrinsic"]
width = intrinsic["width"]
height = intrinsic["height"]
aspect_ratio = intrinsic["aspect_ratio"]
cx_offset = intrinsic["cx_offset"]
cy_offset = intrinsic["cy_offset"]
k1 = intrinsic["k1"]
k2 = intrinsic["k2"]
k3 = intrinsic["k3"]
k4 = intrinsic["k4"]

# 计算焦距
focal_u = width / (2 * aspect_ratio)
focal_v = height / 2

# 计算中心点
center_u = width / 2.0 + cx_offset
center_v = height / 2.0 + cy_offset

intrinsics = np.array([focal_u, 0, center_u, 0, focal_v, center_v, 0, 0, 1])
intrinsics = np.reshape(intrinsics, (3, 3))
dist_coeffs = np.array([k1, k2, k3, k4,0])

# 加载鱼眼图像
fisheye_image = cv2.imread(r"C:\Users\jkyjwb\Downloads\SynWoodScape_V0.1.1\SynWoodScape_V0.1.0\rgb_images\00000_FV.png")

undistorted_image = cv2.undistort(fisheye_image, intrinsics, dist_coeffs)

# 保存校正后的图像
cv2.imwrite("undistorted_image.jpg", undistorted_image)

[carlsummer]

i use PinholeLens can solve，but，i wan't cv2.undistort(fisheye_image, intrinsics, dist_coeffs)
how i do?

def make_cylindrical_cam(cam: Camera):
    """generates a cylindrical camera with a centered horizon"""
    assert isinstance(cam.lens, RadialPolyCamProjection)
    # creates a cylindrical projection
    lens = PinholeLens(cam.lens.coefficients[0])
    rot_zxz = SciRot.from_matrix(cam.rotation).as_euler('zxz')
    # adjust all angles to multiples of 90 degree
    rot_zxz = np.round(rot_zxz / (np.pi / 2)) * (np.pi / 2)
    # center horizon
    rot_zxz[1] = np.pi / 2
    # noinspection PyArgumentList
    return Camera(
        rotation=SciRot.from_euler(angles=rot_zxz, seq='zxz').as_matrix(),
        translation=cam.translation,
        lens=lens,
        size=cam.size, principle_point=(cam.cx_offset, cam.cy_offset),
        aspect_ratio=cam.aspect_ratio
    )

[carlsummer]

I understand that the model of opencv undo is different from yours, so I can only use the one you provided