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Omnidirectional camera (fisheye/wide angle) model support

asked 2017-12-02 07:15:27 -0500

tanasis gravatar image

updated 2017-12-02 07:16:58 -0500


looking at the sensor_msgs/CameraInfo Message and/or at the camera_calibration_parsers it seems that ROS supports only the Pinhole model for cameras (out of the box).

Is there some known way we could use the Scaramuzza model model for omnidirectional cameras?

Currently working under Indigo.


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answered 2017-12-03 07:41:59 -0500

I implemented some tooling for reading ocamlib calibration files and generating rectified images from fisheye cams as part of our DRC participation here: vigir_wide_angle_image_proc. The rectify nodelet is also capable of simulating a pinhole camera with two (yaw, pitch) joints and generating appropriate camera_info and joint_states.

That being said, nowadays I'd recommend using the excellent kalibr calibration toolbox which can jointly calibrate multiple cameras with good ROS integration.

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Thanks for the code Stefan! I'll check it out ;)

tanasis gravatar image tanasis  ( 2017-12-04 03:22:02 -0500 )edit

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Asked: 2017-12-02 07:15:27 -0500

Seen: 1,347 times

Last updated: Dec 03 '17