Add equidistant distortion model (backport #160) #165
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This is a forward-port from ROS1 noetic: ros/common_msgs#109 The model is based on the following publication: J. Kannala and S. Brandt (2006). A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 28, no. 8, pp. 1335-1340 There are many different names for this distortion model: * Kannala and Brandt call it "Generic Camera Model". Sometimes they also call it "equidistance projection model". * Kalibr calls it "equidistant": https://github.com/ethz-asl/kalibr/wiki/supported-models * Camodocal calls it "kannala-brandt": https://github.com/hengli/camodocal * OpenCV calls it "fisheye": https://stackoverflow.com/a/34309644/3036576 All of these are just different names for the same model. Signed-off-by: Martin Günther <martin.guenther@dfki.de> (cherry picked from commit f22c436)
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@cottsay Thoughts on backporting this to Galactic? |
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Since this is a purely additive patch, and won't change ABI, I'm going to go ahead and merge this for Galactic. If there is some problem with it, we can always revert it before the next patch release. |
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Great, thanks for merging! Could you create a new release for foxy + galactic? I have a PR for vision_opencv in the pipeline that depends on this change. Once there's a new release of common_interfaces, I can start the (probably) months-long PR process for vision_opencv. |
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This is an automatic backport of pull request #160 done by Mergify.
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