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Add do_rectify in the camera_info topic (to determine whether to process distortion)

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jj
2025-05-09 15:04:34 +08:00
parent 91426fddc1
commit bdeaf5e30f
1 changed files with 12 additions and 11 deletions
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orbbec_camera/src/utils.cpp
+12 -11
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@@ -35,6 +35,8 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
info.d[5] = distortion.k4;
info.d[6] = distortion.k5;
info.d[7] = distortion.k6;
bool all_zero = std::all_of(info.d.begin(), info.d.end(), [](double val) { return val == 0.0; });
info.roi.do_rectify = all_zero;
info.k.fill(0.0);
info.k[0] = intrinsic.fx;
@@ -897,23 +899,22 @@ cv::Mat undistortImage(const cv::Mat &image, const OBCameraIntrinsic &intrinsic,
return undistorted_image;
}
std::string getDistortionModels(OBCameraDistortion distortion){
switch (distortion.model)
{
std::string getDistortionModels(OBCameraDistortion distortion) {
switch (distortion.model) {
case OB_DISTORTION_NONE:
return sensor_msgs::distortion_models::PLUMB_BOB;
return sensor_msgs::distortion_models::PLUMB_BOB;
case OB_DISTORTION_MODIFIED_BROWN_CONRADY:
return sensor_msgs::distortion_models::PLUMB_BOB;
return sensor_msgs::distortion_models::PLUMB_BOB;
case OB_DISTORTION_INVERSE_BROWN_CONRADY:
return sensor_msgs::distortion_models::PLUMB_BOB;
return sensor_msgs::distortion_models::PLUMB_BOB;
case OB_DISTORTION_BROWN_CONRADY:
return sensor_msgs::distortion_models::PLUMB_BOB;
return sensor_msgs::distortion_models::PLUMB_BOB;
case OB_DISTORTION_BROWN_CONRADY_K6:
return sensor_msgs::distortion_models::PLUMB_BOB;
return sensor_msgs::distortion_models::PLUMB_BOB;
case OB_DISTORTION_KANNALA_BRANDT4:
return sensor_msgs::distortion_models::EQUIDISTANT;
return sensor_msgs::distortion_models::EQUIDISTANT;
default:
return sensor_msgs::distortion_models::PLUMB_BOB;
}
return sensor_msgs::distortion_models::PLUMB_BOB;
}
}
} // namespace orbbec_camera