Set custom projection matrix based on intrinsics params from SDF#293
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iche033 merged 4 commits intogz-sensors7from Dec 7, 2022
Merged
Set custom projection matrix based on intrinsics params from SDF#293iche033 merged 4 commits intogz-sensors7from
iche033 merged 4 commits intogz-sensors7from
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Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
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note that we've also added |
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yeah I saw that. I can add that in once #289 is merged. |
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sounds great; thanks |
ahcorde
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Dec 1, 2022
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
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This PR allows users to specify custom camera projection using the <projection> values from SDF (in addition to <instrinscs>, see #293). Also bumped sdformat dep version as it need gazebosim/sdformat#1203 --------- Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
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Closes #288 This PR extends the camera sensor functionality to support custom projection matrix based on input instrinics values. Specifically, it reads the lens <instrinsics> params from SDF, builds the projection matrix from the input values using code ported from Gazebo-classic, and set the camera to use this custom projection matrix. Expanded the camera intrinsics integration test to compare image output from cameras with different intrinsics values. Signed-off-by: Ian Chen <ichen@osrfoundation.org>
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🎉 New feature
Closes #288
Summary
This PR extends the camera sensor functionality to support custom projection matrix based on input instrinics values. Specifically, it reads the lens
<instrinsics>params from SDF, builds the projection matrix from the input values using code ported from Gazebo-classic, and set the camera to use this custom projection matrix.Expanded the camera intrinsics integration test to compare image output from cameras with different intrinsics values.
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