Adding image rectification for equidistant model (fisheye lenses) #184
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Would it make sense to open a PR on sensor_msgs to add the new define so that it can be used in this PR ? |
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I've now made a PR for this define in sensor msgs: This PR now uses that definition instead of hardcoding in "equidistant", but is dependent on that PR to compile. |
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any motion on this? just wanted to register my interest + willingness to help if necessary to get this closed |
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The build is failing because it's looking for the equidistant distortion model as a defined constant. This was added to the jade-devel branch in my PR here: ros/common_msgs#109, but I'm not sure why the build cannot find it. |
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This seems ready to merge, can someone please restart CI with updated |
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Why is this MR still not merged? |
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Not sure if there's anything I can do on my side... |
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@mjcarroll Because you are the most recent maintainer who merged something in this repository, any update for this PR? |
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I'm about to take a pass at the open PRs here. It's very likely that most
will be retargeted to noetic to keep from making major changes to the
melodic release at this point.
…On Sun, Jan 19, 2020, 09:25 Hermann ***@***.***> wrote:
@mjcarroll <https://github.com/mjcarroll> Because you are the most recent
maintainer who merged something in this repository, any update for this PR?
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There is an extended version of this PR at #306. |
| cv::initUndistortRectifyMap(K_binned, D_, R_, P_binned, binned_resolution, | ||
| CV_16SC2, cache_->full_map1, cache_->full_map2); | ||
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| if (cameraInfo().distortion_model.compare(sensor_msgs::distortion_models::PLUMB_BOB) == 0) { |
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This should also check for RATIONAL_POLYNOMIAL, see #299 .
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This PR can be closed, since #358 was finally merged. |
OpenCV now has support for fisheye models (named "equidistant" in other places), which can be integrated into image_geometry to undistort fisheye cameras using image_proc.
Note that there is currently no distortion model for this defined in sensor_msgs, and an appropriate constant will need to be defined.