Why I see an error during FishEye camera calibration (Error using fisheyeInt​rinsics/co​mputeUndis​tortBounds (line 494))?

I am running the 'undistortFishEyeImage' function on my image.

While doing this, I see the following error message:

Error using fisheyeIntrinsics/computeUndistortBounds (line 494)
Failed to undistort the image. Consider reducing the value of 'ScaleFactor' and/or set
the 'OutputView' parameter to 'Same'.

Error in fisheyeIntrinsics/undistortImageImpl (line 458)
                [xBounds, yBounds, pp] = computeUndistortBounds(this, ...

Error in undistortFisheyeImage (line 114)
[J, camIntrinsics] = undistortImageImpl(intrinsics, I, interp, ...

Error in DetermineCameraParameter (line 42)
J2 = undistortFisheyeImage(I,params.Intrinsics,'OutputView','full');

Why do I get this error and how to resolve it?

Answer 1

[MathWorks Support Team]

The implementation of Fisheye camera calibration is not designed for >150° FOV lenses (in R2019a or earlier). The function errors out correctly and this is not a bug.

Please switch the 'OutputView' parameter from 'full' to 'same' in order to resolve the error message.

We already noticed, that we should improve our documentation in one of our next releases, to describe this clearer.

Here you can find the current situation in our documentation:

https://www.mathworks.com/help/vision/ug/fisheye-calibration-basics.html

"The Computer Vision Toolbox™ calibration algorithm uses the fisheye camera model proposed by Scaramuzza[1]. You can use this model with cameras up to a field of view (FOV) of 150 degrees. The model uses an omnidirectional camera model. The process treats the imaging system as a compact system. In order to relate a 3-D world point on to a 2-D image, you must obtain the camera extrinsic and intrinsic parameters. World points are transformed to camera coordinates using the extrinsics parameters. The camera coordinates are mapped into the image plane using the intrinsics parameters."