Proposal: Extend sensor_msgs/distortion_models.hpp to support more common models
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- Dominant language
- C++
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- 393
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Description
Description
Dear maintainers,
i was wondering that ROS does not consider (yet), to support more recent and frequent camera models like double sphere or f-theta. I think extending the sensor_msgs/distortion_models.hpp would be a great change to improve usability within those camera models.
Motivation
I personally work a lot with double sphere, Nvidia Drive Works for example uses a lot the f-theta model. As ROS2 bags are a great way to collect sensor data i would appreciate the support of those models "natively", since they currently cannot be used within the pipelines which then always leds into rather custom msgs or maintaining those calibrations separately.
Design / Implementation Considerations
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Additional Information
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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
Start by reading sensor_msgs/distortion_models.hpp and reviewing how existing distortion models are represented. Investigate the requirements for adding double sphere and f-theta models, including how ROS2 bags and downstream pipelines consume these definitions. Done means the scope and representation for the requested models are agreed and the interfaces support them natively.
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Assessment
- Tech stack
- cpp
- Domain
- api
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Quiet
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100