Algorithm 2 Transform 2D panoramic image to 3D world point cloud.

Input: 2D panoramic image

Output: 3D world point cloud   1: Start of OCAM algorithm   2: Loading OCAM model   3: Initialize OCAM   4: Read initial 2D panoramic image   5: Using polyval () to calculate Z coordinate of 3D world point   6: Using cam2word () to transform 2D image points into 3D world point clouds   7: Save world point cloud image

8: End of OCAM algorithm