leofansq / tools_kitti2fisheye

Rebuild the Fisheye dataset from the normal dataset. (Based on KITTI dataset)

Conversion Tool for FishEye Dataset

About Imaging Algorithm

• The algorithm is based on the equidistance projection
• The picture below shows the principle of the imaging algorithm.Every point K in the sphere correspond to a single point Q(x,y) in the raw image. Then K is remapped into imaging plane as P(u,v). The equation between P and Q is

• The process of image manufacture is shown below. The flat image is transformed to the sphere, then remapped into fisheye imaging plane.

Implementation (Windows)

For Batch Processing

• Get The List of Filename：Put the get_list.bat into the file and click. The list of filename is written into the 'filename_list.txt' file.

  Don't forget to delete the filename 'get_list.bat' from the list by yourself!

• Adjust the parameters and Run the programe in Batch-Processing Mode

For Single Picture

• Adjust the parameters and Run the programe in Single-Picture Mode

About Generated Dataset

• The generated dataset contains images and labels
• The parameters of the images is based on the parameters you set
• The contents of the labels are based on the origin labels and the parameters you set. Normally, it includes two parts, classification and the b-box.