Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add potential fixes for fisheye model #146

Open
wants to merge 3 commits into
base: noetic-devel
Choose a base branch
from
Open

Add potential fixes for fisheye model #146

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
3830b8b
Add potential fixes for fisheye model
DavidTorresOcana Oct 27, 2019
c3f4c1d
Change FISHEYE distortion model for EQUIDISTANT
DavidTorresOcana Aug 2, 2020
534c419
Merge remote-tracking branch 'upstream/noetic-devel' into fisheye
DavidTorresOcana Aug 23, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 12 additions & 1 deletion camera_calibration_parsers/src/parse_ini.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,15 @@ bool writeCalibrationIni(std::ostream& out, const std::string& camera_name,
sensor_msgs::distortion_models::PLUMB_BOB.c_str(), (int)cam_info.D.size());
return false;
}
else if ( cam_info.distortion_model != sensor_msgs::distortion_models::EQUIDISTANT ||
cam_info.D.size() != 4) {
ROS_ERROR("Videre INI format can only save calibrations using the equidistant distortion model. "
"Use the YAML format instead.\n"
"\tdistortion_model = '%s', expected '%s'\n"
"\tD.size() = %d, expected 4", cam_info.distortion_model.c_str(),
sensor_msgs::distortion_models::EQUIDISTANT.c_str(), (int)cam_info.D.size());
return false;
}

out.precision(5);
out << std::fixed;
Expand Down Expand Up @@ -213,7 +222,9 @@ bool parseCalibrationIniRange(Iterator first, Iterator last,
cam_info.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
else if (cam_info.D.size() == 8)
cam_info.distortion_model = sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL;

else if (cam_info.D.size() == 4){
cam_info.distortion_model = sensor_msgs::distortion_models::EQUIDISTANT;
}
return info.hit;
}
/// \endcond
Expand Down