Commits on Nov 12, 2021

1. Add equidistant distortion model …

   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 <martin.guenther@dfki.de>

   

   mintar committed Nov 12, 2021
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