Gazebo garden : Plugin for FOV distortion model
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!