(Feature Request)How can I use the 'Simulation 3D Fisheye Camera' block to simulate a fisheye model that matches a known distortion table (FOV = 210°)?

As far as I know, the latest version of MATLAB currently supports many fisheye models (Pinhole Model with minor distortion, Kannala-Brandt Model, Scaramozza Model), but none of these meet my requirements because their maximum supported FOVs are 95°, 115°, and 195° respectively. My fisheye lens specification from the manufacturer provides a distortion table (FOV = 210°), as shown below:

data = readtable("our_len_from_factory.txt");
data.Properties.VariableNames = ["theta" ,"tangential displacement","sagitta displacement","Real Height","Ref Height"];

% preview distortion table
head(data)

    theta    tangential displacement    sagitta displacement    Real Height    Ref Height
    _____    _______________________    ____________________    ___________    __________

       0            0.0042962                0.0042962                  0              0 
    1.05            0.0042929                0.0042911           0.023046       0.023046 
     2.1            0.0042825                0.0042759            0.04609       0.046093 
    3.15            0.0042649                0.0042506           0.069129       0.069139 
     4.2            0.0042403                0.0042153           0.092162       0.092186 
    5.25            0.0042087                0.0041699            0.11519        0.11523 
     6.3              0.00417                0.0041146             0.1382        0.13828 
    7.35            0.0041243                0.0040495             0.1612        0.16133 

My question is, I want to obtain fisheye images in Simulink (using the 'Simulation 3D Fisheye Camera' block) that simulate the above fisheye lens. How should I do this?（all source files are attached）

Below are the things I have tried：

According to the relevant documentation (estimateFisheyeParameters) I tried calibrating the parameters, then fed the parameters into the above block for simulation. The parameters are as follows:

I can produce simulated fisheye images, but they are not the F-Theta distortion-model images I expect, as to I still cannot get good panoramic stitching with such fisheye images.(not related to stitching algorithm)

Reference:

DualFisheyeSimulation - File Exchange - MATLAB Central

cuixing158/OpenCVFisheyeAndDistortionTable: Fisheye image correction and distortion table conversion.

[xingxingcui]

I expect future release enhancements: not only the Scaramozza model, but support for user-custom distortion models, such as the ones listed here — Equidistant, Stereographic, Equisolid-angle, and Orthographic , ...

Fisheye lens - Wikipedia

Answer 1

[Qu Cao]

Custom fisheye camera models are currently not supported in Computer Vision Toolbox. We will consider supporting this feature in a future release.