Image Projection Model
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- Dominant language
- C++
- Stars
- 393
- Forks
- 157
- PR merge metrics
- No merged PRs in 30d
Description
Feature request
Feature description
Add a flag to the camera_info message which tell if an image should be rectified using a pinhole or spherical projection model.
When, e.g., using fisheye cameras, a pinhole projection model is not suitable. With FoVs of almost or even more than 180 degree, a different model is required.
This information is not available within the camera_info.
The distortion model must not be used for such information, since different projection models can be used for different kind of lenses/distortions.
Implementation considerations
For my specific use case, a simple flag (bool) would suffice to encode the required information.
I'm not sure though, if a enum (int) might be the better option, since there are more possible ways of projecting images.
(pinhole, cylindrical, spherical, ...)
Contributor guide
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
The request concerns the camera_info message and asks for a projection-model indicator separate from the distortion model. Start by locating that message definition and reviewing how projection information is represented; done means an agreed representation distinguishes at least pinhole and spherical projection without conflating it with lens distortion.
Written by the indexing model from the issue text.
Assessment
- Domain
- api
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 30/100