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Gazebo garden : Plugin for FOV distortion model

asked 2023-08-02 17:57:40 -0500

tanguy gravatar image

updated 2023-08-03 11:21:37 -0500

Hi! I see that gazebo garden is using the Brown Conrady radian distortion model. For my research however, I would need to use the FOV distortion model from "Devernay, F., Faugeras, O. Straight lines have to be straight. Machine Vision and Applications 13, 14–24 (2001). https://doi.org/10.1007/PL00013269".

How would I go about doing that? The implementation location seems fairly straightforward in gazebo-classic but I can't find it in gazebo garden's ImageBrownDistortionModel.cc and BrownDistortionModel.cc.

Help on how to implement this would be much appreciated!

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answered 2023-08-03 03:48:56 -0500

jrtg gravatar image

updated 2023-08-03 04:19:38 -0500

I only gave it a quick look, but at first sight it seems that you will have to:

  1. Create an ImageFOVDistortionModel.cc similar to ImageBrownDistortionModel.cc,
  2. Adapt DistortionFactory::NewDistortionModel() to support also your new FOV distortion model,
  3. Adapt CameraSensor.cc to support also your new distortion model.


EDIT:

Step 2. is rather "Adapt ImageDistortionFactory::NewDistortionModel()" instead.

This remark suggests that you could also define it as a 'custom' distortion model, but I find no references to SetCustomDistortionCallback anywhere in the code, so I think this has not been implemented...


EDIT 2:

This issue #107 and pull request #192 suggest that changes to gz-rendering might also be required. This is the corresponding gz-rendering pull request: #502. E.g. the current implementation has 'radial' and 'tangential distortion coefficients' but maybe your FOV model needs others?

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Thank you for your answer! Will try this out and let you know how it goes :)

tanguy gravatar imagetanguy ( 2023-08-08 09:35:17 -0500 )edit

Hey! I figured out which part of the code I need to change and made an issue here, could you take a look at it if you find the time? It would be immensely helpeful, thank you!

tanguy gravatar imagetanguy ( 2023-08-11 19:55:01 -0500 )edit

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Asked: 2023-08-02 17:57:40 -0500

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Last updated: Aug 03 '23