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Add distortion model and distortion params to ros wrapper#3023
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m1baldwin wants to merge 1 commit into
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Add distortion model and distortion params to ros wrapper#3023m1baldwin wants to merge 1 commit into
m1baldwin wants to merge 1 commit into
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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