Add equidistant distortion model #161
Closed
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This is a forward-port from ROS1 noetic: ros/common_msgs#109 The model is based on the following publication: J. Kannala and S. Brandt (2006). A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340 There are many different names for this distortion model: * Kannala and Brandt call it "Generic Camera Model". Sometimes they also call it "equidistance projection model". * Kalibr calls it "equidistant": https://github.com/ethz-asl/kalibr/wiki/supported-models * Camodocal calls it "kannala-brandt": https://github.com/hengli/camodocal * OpenCV calls it "fisheye": https://stackoverflow.com/a/34309644/3036576 All of these are just different names for the same model. Signed-off-by: Martin Günther <[email protected]>
Contributor
|
I'm actually going to close this and use the bot to do backports of #160 to Foxy and Galactic. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is a backport of #160 to ROS2 Foxy.