search

NVIDIA-ISAAC-ROS / isaac_ros_image_pipeline

NVIDIA-accelerated ROS2 packages for camera image processing.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
112 stars 19 forks source link

Does Isaac ROS in this new version support Rational Polynomial calibration model? #11

Closed FPSychotic closed 2 years ago

FPSychotic commented 2 years ago

I have a stereo camera that publish camera_info topic in rational polynomial intstead plumb_bob, is it supported in this new version? If not, any idea how I could make it work? some node that make the conversion or maybe from a calibration file?, in the guide I could read "maybe you need calibrate your camera", but it don't say in what format, file type or where I need locate it.

Thanks by share

hemalshahNV commented 2 years ago

The Rectify node in the isaac_ros_image_proc package does support undistorting camera images with the rational polynomial distortion model. If CameraInfo specifies sensor_msgs::distortion_models::RATIONAL_POLYNOMIAL, Rectify will read the 8 distortion model parameters and apply (see here: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline/blob/71f5b222751d593a6d2d18fa13781eb39acc8dc9/isaac_ros_image_proc/src/rectify_node.cpp#L281)