Add calibration for fisheye cameras

Fix ros-perception#146
DavidTorresOcana · Oct 27, 2019 · 9f0772e · 9f0772e
1 parent 54c271e
commit 9f0772e
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Showing 40 changed files with 147 additions and 3,604 deletions.
diff --git a/camera_calibration/CHANGELOG.rst b/camera_calibration/CHANGELOG.rst
diff --git a/camera_calibration/CMakeLists.txt b/camera_calibration/CMakeLists.txt
diff --git a/camera_calibration/button.jpg b/camera_calibration/button.jpg
diff --git a/camera_calibration/doc/conf.py b/camera_calibration/doc/conf.py
diff --git a/camera_calibration/doc/index.rst b/camera_calibration/doc/index.rst
diff --git a/camera_calibration/mainpage.dox b/camera_calibration/mainpage.dox
diff --git a/camera_calibration/package.xml b/camera_calibration/package.xml
diff --git a/camera_calibration/rosdoc.yaml b/camera_calibration/rosdoc.yaml
diff --git a/camera_calibration/setup.py b/camera_calibration/setup.py
diff --git a/camera_calibration/src/camera_calibration/__init__.py b/camera_calibration/src/camera_calibration/__init__.py
diff --git a/camera_calibration/src/camera_calibration/calibrator.py b/camera_calibration/src/camera_calibration/calibrator.py
diff --git a/camera_calibration/src/camera_calibration/camera_calibrator.py b/camera_calibration/src/camera_calibration/camera_calibrator.py
@@ -81,7 +81,9 @@ def __init__(self, queue, opencv_calibration_node):
     def run(self):
         cv2.namedWindow("display", cv2.WINDOW_NORMAL)
         cv2.setMouseCallback("display", self.opencv_calibration_node.on_mouse)
+        cv2.createTrackbar("Camera type: \n 0 : pinhole \n 1 : fisheye", "display", 0,1, self.opencv_calibration_node.on_model_change)
         cv2.createTrackbar("scale", "display", 0, 100, self.opencv_calibration_node.on_scale)
+
         while True:
             if self.queue.qsize() > 0:
                 self.image = self.queue.get()
@@ -273,6 +275,8 @@ def on_mouse(self, event, x, y, flags, param):
                     # Only shut down if we set camera info correctly, #3993
                     if self.do_upload():
                         rospy.signal_shutdown('Quit')
+    def on_model_change(self,model_select_val):
+        self.c.set_distmodel( "pinhole" if model_select_val < 0.5 else "fisheye")
 
     def on_scale(self, scalevalue):
         if self.c.calibrated:

diff --git a/camera_calibration/test/directed.py b/camera_calibration/test/directed.py
diff --git a/camera_calibration/test/multiple_boards.py b/camera_calibration/test/multiple_boards.py
diff --git a/camera_calibration_fisheye/CHANGELOG.rst b/camera_calibration_fisheye/CHANGELOG.rst
diff --git a/camera_calibration_fisheye/CMakeLists.txt b/camera_calibration_fisheye/CMakeLists.txt
diff --git a/camera_calibration_fisheye/README.md b/camera_calibration_fisheye/README.md
diff --git a/camera_calibration_fisheye/button.jpg b/camera_calibration_fisheye/button.jpg