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ros-perception / image_pipeline

An image processing pipeline for ROS.
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image_saver only supports plumb_bob distortion model #1038

Open sgillen opened 3 weeks ago

sgillen commented 3 weeks ago

On humble (not tested elsewhere) when using image_saver with a camera info using for example, rational_polynomial distortion model, I will get the following error:

[ERROR] [1729187734.973433398] [camera_calibration_parsers]: Videre INI format can only save calibrations using the plumb bob distortion model. Use the YAML format instead.
        distortion_model = 'rational_polynomial', expected 'plumb_bob'
        D.size() = 8, expected 5

Maybe this is considered a bug with camera_calibration_parser, but it might be straightforward to just use a .yml/yaml extension here: https://github.com/ros-perception/image_pipeline/blob/rolling/image_view/src/image_saver_node.cpp#L268C33-L268C49 

mikeferguson commented 3 weeks ago

I think this should actually be ticketed upstream with camera_calibration_parsers - ideally anything we write out can be universally read back by other tools (which generally are going to be using the camera_calibration_parsers)