Add equidistant distortion model #161
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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>
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I'm actually going to close this and use the bot to do backports of #160 to Foxy and Galactic. |
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This is a backport of #160 to ROS2 Foxy.