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ethz-asl / rovio

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add double sphere distortion model #196

Closed ZacharyTaylor closed 5 years ago

ZacharyTaylor commented 6 years ago

Added double sphere distortion model (now also in kalibr) to allow rovio to work with exteremly fish-eyed cameras. Also added an optional setting to specify a radius to consider new keypoints inside. Without this rovio would place points past the 180 degree point in the image and they would initialize at the images center.

Someone should probably check the jacobians, as this is far from my strong suit

ezgif-2-3bd331eff4

ZacharyTaylor commented 6 years ago

test this please

bloesch commented 5 years ago

you could remove the factor 2 on line 203 in Camera.cpp. Otherwise lgtm. And sorry for the massive delay.

helenol commented 5 years ago

Only over a full year later, addressed the review comments and merging. ;)

Edit: OS X build is breaking on lightweight filtering because it is unmaintained, but don't think anyone is using OS X in the lab anymore.

michaelpantic commented 5 years ago

@helenol disabled OSX, retriggered build.