Add distortion model and distortion params to ros wrapper #3023
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Needs to use updated getDistortion() api from PR #3039 . |
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Is this still relevant? If so, what is blocking it? Is there anything you can do to help move it forward? This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. |
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CameraInfo ros messages have a "distortion_model" field, along with a "D" vector. Currently, there does not seem to be a way to specify this in the capture settings. Also, this is not filled out when generating a camera Info message for a given camera in the airsim_ros_wrapper.cpp.
This PR adds default distortion fields in the camera info message generated in airsim_ros_wrappers.cpp. It is assuming the camera is ideal and using a plumb_bob model with zero distortion. This allows the video from a camera with a "Scene" image type to be used by software which requires distortion params, like aurco_detect