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5.3 Usage Guide

Supported map types and parameters​

  • AnyPointM1
    • alpha_offset
    • beta_offset
    • zoom
  • AnyPointM2
    • thetaX_degree
    • thetaY_degree
    • zoom
  • PanoramaM_Rt
    • alpha_max
    • ic_alpha_degree
    • ic_beta_degree

Example​

Create a YAML file:

Configure the camera parameters:

config.yaml
camera:
  name: 7730v1
  sensor:
    width: 1.55
    height: 1.55
  icx: 944
  icy: 525
  i_ratio: 1.0
  image:
    width: 1920
    height: 1080
  calibration_ratio: 1.0
  parameters:
    - 0.0
    - 0.0
    - -20.772
    - 35.661
    - -13.097
    - 370.136

Configure the image path:

config.yaml
image_path: /path/to/image.jpg

Configure the map parameters:

config.yaml
  - name: anypoint
    save_path: output/anypoint
    type: AnyPointM2
    alpha_offset: 0.0
    beta_offset: 0.0
    zoom: 1.0

Run the fisheye transform tool:

./fisheye_transformer -c config.yaml