Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Image kernel distortion #98

Merged
merged 12 commits into from
Jun 19, 2024
Merged

Image kernel distortion #98

merged 12 commits into from
Jun 19, 2024

Conversation

RobinSchmid7
Copy link
Contributor

@RobinSchmid7 RobinSchmid7 commented Jun 9, 2024 •
edited
Loading

Started adding radtan distortion.

  • Not ready to merge yet - needs to be tested in sim.
  • will then add other distortions (plumb_bob, ...)
@RobinSchmid7
Copy link
Contributor Author

  • currently get an error loading the plugins on my pc
@RobinSchmid7 RobinSchmid7 changed the title Start adding distortion, not tested yet Jun 10, 2024
@RobinSchmid7 RobinSchmid7 marked this pull request as ready for review June 11, 2024 21:09
@mktk1117 mktk1117 changed the base branch from dev/nature_hiking/dev to main June 11, 2024 21:36
mktk1117
mktk1117 reviewed Jun 11, 2024
View reviewed changes
Copy link
Collaborator

@mktk1117 mktk1117 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Once we test this on robot, we can merge this.
elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py Outdated
float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2;
float x_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x);
float y_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y);
u = (x_corrected * (image_width / 2.0)) + (image_width / 2.0);
Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think we can get fx, cx from P
Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Yes, you mean from K
@mktk1117 mktk1117 merged commit 3ebf196 into main Jun 19, 2024
2 of 3 checks passed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
3 participants
@RobinSchmid7 @mktk1117 @JonasFrey96