[rolling] image_publisher: add field of view parameter #985
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Kotochleb
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Kotochleb
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ahcorde
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May 27, 2024
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
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Kotochleb
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@ahcorde the changes were retargeted to |
ahcorde
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May 27, 2024
| camera_info_.k = {1, 0, static_cast<float>(camera_info_.width / 2), 0, 1, | ||
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| // Based on https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/ | ||
| double f_approx = (camera_info_.width / 2) / std::tan((field_of_view_ * M_PI / 180) / 2); |
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is the default value 50 returning 1 ? as the current behavior ?
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It doesn't, and I forgot to account for breaking changes. I changed it now so when FOV is 0 or less, it disables the whole feature and uses 1.0 for focal length instead. The default vale is now zero as well, so now the whole thing is not breaking anything.
ahcorde
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May 28, 2024
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https://github.com/Mergifyio backport jazzy humble iron |
✅ Backports have been created
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Currently, the default value for focal length when no camera info is provided defaults to `1.0` rendering whole approximate intrinsics and projection matrices useless. Based on [this article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/), I propose a better approximation of the focal length based on the field of view of the camera. For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time. If there is some documentation to fill. please let me know. This PR should be straightforward to port it to `Humble`, `Iron` and `Jazzy`. --------- Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 78d80f7)
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Currently, the default value for focal length when no camera info is provided defaults to `1.0` rendering whole approximate intrinsics and projection matrices useless. Based on [this article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/), I propose a better approximation of the focal length based on the field of view of the camera. For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time. If there is some documentation to fill. please let me know. This PR should be straightforward to port it to `Humble`, `Iron` and `Jazzy`. --------- Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 78d80f7) # Conflicts: # image_publisher/doc/components.rst
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Currently, the default value for focal length when no camera info is provided defaults to `1.0` rendering whole approximate intrinsics and projection matrices useless. Based on [this article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/), I propose a better approximation of the focal length based on the field of view of the camera. For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time. If there is some documentation to fill. please let me know. This PR should be straightforward to port it to `Humble`, `Iron` and `Jazzy`. --------- Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit 78d80f7) # Conflicts: # image_publisher/doc/components.rst
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Currently, the default value for focal length when no camera info is provided defaults to `1.0` rendering whole approximate intrinsics and projection matrices useless. Based on [this article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/), I propose a better approximation of the focal length based on the field of view of the camera. For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time. If there is some documentation to fill. please let me know. This PR should be straightforward to port it to `Humble`, `Iron` and `Jazzy`. <hr>This is an automatic backport of pull request #985 done by [Mergify](https://mergify.com). Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com>
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Currently, the default value for focal length when no camera info is provided defaults to `1.0` rendering whole approximate intrinsics and projection matrices useless. Based on [this article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/), I propose a better approximation of the focal length based on the field of view of the camera. For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time. If there is some documentation to fill. please let me know. This PR should be straightforward to port it to `Humble`, `Iron` and `Jazzy`. <hr>This is an automatic backport of pull request #985 done by [Mergify](https://mergify.com). Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com>
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…992) Currently, the default value for focal length when no camera info is provided defaults to `1.0` rendering whole approximate intrinsics and projection matrices useless. Based on [this article](https://learnopencv.com/approximate-focal-length-for-webcams-and-cell-phone-cameras/), I propose a better approximation of the focal length based on the field of view of the camera. For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time. If there is some documentation to fill. please let me know. This PR should be straightforward to port it to `Humble`, `Iron` and `Jazzy`. <hr>This is an automatic backport of pull request #985 done by [Mergify](https://mergify.com). Co-authored-by: Krzysztof Wojciechowski <49921081+Kotochleb@users.noreply.github.com>
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Currently, the default value for focal length when no camera info is provided defaults to
1.0rendering whole approximate intrinsics and projection matrices useless. Based on this article, I propose a better approximation of the focal length based on the field of view of the camera.For most of the use cases, users will either know the field of view of the camera the used, or they already calibrated it ahead of time.
If there is some documentation to fill. please let me know.
This PR should be straightforward to port it to
Humble,IronandJazzy.