About inverse function of img2cam for fisheye model

[qianyu220]

I see the function cam2img to project 3d point to fisheye image, but do you have an inverse function of img2cam for your fisheye model?

[yiyiliao]

Sorry we do not have it yet. The unprojection function is not as straightforward as the perspective camera due to the undistortion operation: https://github.com/autonomousvision/kitti360Scripts/blob/8db21c6966dcfbffa2a9eec875e2ac0afa78f0ad/kitti360scripts/helpers/project.py#L180-L182

[qianyu220]

Thanks for your reply. Looking forward to your update if possible.

[eslambakr]

Dear @yiyiliao and @qianyu220 Do u have any updates regarding this?

[yuliangguo]

Sorry we do not have it yet. The unprojection function is not as straightforward as the perspective camera due to the undistortion operation:

https://github.com/autonomousvision/kitti360Scripts/blob/8db21c6966dcfbffa2a9eec875e2ac0afa78f0ad/kitti360scripts/helpers/project.py#L180-L182

Does this mean a pixel-wise mapping recording the polinomial solution is needed for the undistortion? It will be very helpful that the authors could help general a official version so that everyone can use the correct one.