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Need to check if all distortion coefficients are zero, not just first one #180

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lucasw opened this issue Feb 29, 2016 · 4 comments
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Need to check if all distortion coefficients are zero, not just first one #180

lucasw opened this issue Feb 29, 2016 · 4 comments

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@lucasw
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lucasw commented Feb 29, 2016

https://github.com/ros-perception/image_pipeline/blob/indigo/image_proc/src/nodelets/rectify.cpp#L125

// If zero distortion, just pass the message along
if (info_msg->D.empty() || info_msg->D[0] == 0.0)
{
...

That check ought to test every element of info_msg->D to see if they are all 0.0. This check probably always works with real camera calibrations, but synthetic ones (which could be used in tests or simulations) can have an exactly zero first coefficient and non-zero other coefficients.
lucasw added a commit to lucasw/vimjay that referenced this issue Feb 29, 2016
@lucasw
#7 Filed a bug report about first distortion coefficient being zero c…
53f4c7a 
…ausing rectification to not be done ros-perception/image_pipeline#180
@lucasw
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lucasw commented Feb 29, 2016

I can provide a pull request in a day or two.

@vrabaud
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vrabaud commented Feb 29, 2016

Thx, please do. And please include a test.

@lucasw
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lucasw commented Mar 1, 2016

A corresponding change is needed in vision_opencv to make a fix here work:

https://github.com/ros-perception/vision_opencv/blob/indigo/image_geometry/src/pinhole_camera_model.cpp#L130

cache_->distortion_state = (cam_info_.D.size() == 0 || (cam_info_.D[0] == 0.0)) ? NONE : CALIBRATED;

@lucasw lucasw mentioned this issue Mar 1, 2016
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lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 1, 2016
@lucasw
ros-perception#180 Check if all distortion coefficients are zero. Add…
bd18258 
… a test next. Currently testing manually with vimjay image_rect.launch (which brings up an rqt gui and camera info distortion coefficients can be dynamically reconfigured.
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 1, 2016
@lucasw
ros-perception#180 get rid of algorithm include (was trying out std::…
e6a32b6 
…all_of), collapse this commit with above later.
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 6, 2016
@lucasw
ros-perception#180 have a rostest but it isn't running, can't seem to…
ff03352 
… debug it because I can't talk to rostest master on 22422. Don't push this, rebase when solution is found
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 6, 2016
@lucasw
ros-perception#180 the test works with a spinOnce and sleep, next try…
15e54fc 
… just spinOnce.
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 6, 2016
@lucasw
ros-perception#180 The last two tests are failing, it looks like the …
ebb6be1 
…camera info parameters are still changing the image
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 6, 2016
@lucasw
ros-perception#180 the image needed to be bgr8, that fixed the tests
ccfe7b1
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 6, 2016
@lucasw
issue ros-perception#180 Check if all distortion coefficients are zero.
4061976 
Test with:

rostest --reuse-master --text image_proc test_rectify.xml

Can also test interactively with vimjay image_rect.launch, which brings up an rqt gui and camera info distortion coefficients can be dynamically reconfigured.
lucasw added a commit to lucasw/image_pipeline that referenced this issue Mar 6, 2016
@lucasw
issue ros-perception#180 Check if all distortion coefficients are zero.
9da99b4 
Test with:

rostest --reuse-master --text image_proc test_rectify.xml

Can also test interactively with vimjay image_rect.launch, which brings up an rqt gui and camera info distortion coefficients can be dynamically reconfigured.
@lucasw lucasw mentioned this issue Mar 6, 2016
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@vrabaud
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vrabaud commented Mar 13, 2016

greatly fixed in #117

@vrabaud vrabaud closed this as completed Mar 13, 2016
wkentaro pushed a commit to wkentaro/image_pipeline that referenced this issue May 24, 2016
@lucasw @wkentaro
issue ros-perception#180 Check if all distortion coefficients are zero.
c42a612 
Test with:

rostest --reuse-master --text image_proc test_rectify.xml

Can also test interactively with vimjay image_rect.launch, which brings up an rqt gui and camera info distortion coefficients can be dynamically reconfigured.
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@vrabaud @lucasw