Handle distortion in the ipm #64
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Signed-off-by: Florian Vahl <git@flova.de>
Signed-off-by: Florian Vahl <git@flova.de>
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Docs: ros-sports/ipm-docs#5 |
This was referenced Mar 19, 2024
jaagut
approved these changes
Mar 22, 2024
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Currently, no distortion is considered in the IPM and we assume all inputs come from a rectified image. But this might not always be the case. Many CV approaches also perform well on unrectified images and skipping the rectification can be good in terms of performance. In cases like this, the distortion needs to be accounted for during the inverse perspective mapping. This pr introduces a dep to OpenCV to calculate the ray directions. This is able to account for the distortion. It is slightly slower compared to the previous approach, but it still only takes ~1/100 seconds to convert a reasonably sized image in its entirety (which is not the case most of the time).
Closes #11