Add equidistant distortion model (backport #160) #164
Merged
Conversation
This file contains 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
![mergify[bot]](https://avatars.githubusercontent.com/in/10562?s=60&v=4){kind=small}
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> (cherry picked from commit f22c436)
|
CI:
|
|
@jacobperron Thoughts on backporting this to Foxy? |
|
Sounds fine to me. |
jacobperron
approved these changes
Dec 2, 2021
Closed
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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Outdated suggestions cannot be applied.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 an automatic backport of pull request #160 done by Mergify.
Mergify commands and options
More conditions and actions can be found in the documentation.
You can also trigger Mergify actions by commenting on this pull request:
@Mergifyio refreshwill re-evaluate the rules@Mergifyio rebasewill rebase this PR on its base branch@Mergifyio updatewill merge the base branch into this PR@Mergifyio backport <destination>will backport this PR on<destination>branchAdditionally, on Mergify dashboard you can:
Finally, you can contact us on https://mergify.com