Added equidistant distortion model const

ros / common_msgs

Commonly used messages in ROS. Includes messages for actions (actionlib_msgs), diagnostics (diagnostic_msgs), geometric primitives (geometry_msgs), robot navigation (nav_msgs), and common sensors (sensor_msgs), such as laser range finders, cameras, point clouds.

http://wiki.ros.org/common_msgs

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Added equidistant distortion model const #109

Closed alexzzhu closed 6 years ago

alexzzhu commented 7 years ago

Adds a new distortion model to the const definitions for fisheye cameras. Used in the following PR in vision_opencv/image_geometry to incorporate fisheye rectification into the standard pipeline: https://github.com/ros-perception/vision_opencv/pull/184

tfoote commented 7 years ago

This looks reasonable. Can you link to some more documentation on this distortion model?

alexzzhu commented 7 years ago

The distortion model is described in the paper "A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses" by Juho Kannala and Sami S. Brand (paper), where it's referred to as the equidistance model (Kalibr refers to it as the equidistant model, hence the naming here). The model is used in OpenCV, Kalibr, and the MATLAB Camera Calibration Toolbox