Support for additional distortion models

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

179 stars 191 forks source link

Support for additional distortion models #89

Closed reaganlo closed 8 years ago

reaganlo commented 8 years ago

Based on this file https://github.com/ros/common_msgs/blob/indigo-devel/sensor_msgs/include/sensor_msgs/distortion_models.h, the supported distortion models are "plumb_bob" and "rational_polynomial"

The distortion models in two of our cameras use "Modified Brown-Conrady" and "Inverse Brown-Conrady".

Are there any plans to support these distortion models too?
If no, are we not supposed to create "sensor_msgs/CameraInfo" ROS messages for these unsupported distortion models?

tfoote commented 8 years ago

We'd be happy to take contributions to add support for these models, though I think these basically map to the models that OpenCV uses. related It might be easier to find the closest approximation based on the rational_polynomial distortion coefficients.

@vrabaud are you familiar with the different distortion models and their accuracy?

vrabaud commented 8 years ago

Any model is supported, that's why the model is a string and not an enum https://github.com/ros/common_msgs/blob/indigo-devel/sensor_msgs/msg/CameraInfo.msg#L60 Explained here: http://www.ros.org/reps/rep-0104.html#alternate-distortion-models Now, it depends on which pipelines you use next and those are the ones who need to adapt to your model.

reaganlo commented 8 years ago

@vrabaud Thanks