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Passing distortion model information #101

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Aug 8, 2024
Merged

Passing distortion model information #101

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2 changes: 1 addition & 1 deletion elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ class ElevationMappingWrapper {
void input(const RowMatrixXd& points, const std::vector<std::string>& channels, const RowMatrixXd& R, const Eigen::VectorXd& t,
const double positionNoise, const double orientationNoise);
void input_image(const std::vector<ColMatrixXf>& multichannel_image, const std::vector<std::string>& channels, const RowMatrixXd& R,
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, int height, int width);
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, const std::string distortion_model, int height, int width);
void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R);
void clear();
void update_variance();
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13 changes: 13 additions & 0 deletions elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py
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Expand Up @@ -474,6 +474,7 @@ def input_image(
t: cp._core.core.ndarray,
K: cp._core.core.ndarray,
D: cp._core.core.ndarray,
distortion_model: str,
image_height: int,
image_width: int,
):
Expand Down Expand Up @@ -512,6 +513,18 @@ def input_image(
else:
D = D[:5]

if distortion_model == "radtan":
pass
elif distortion_model == "equidistant":
# Not implemented yet.
D *= 0
elif distortion_model == "plumb_bob":
# Not implemented yet.
D *= 0
else:
# Not implemented yet.
D *= 0

# Calculate transformation matrix
P = cp.asarray(K @ cp.concatenate([R, t[:, None]], 1), dtype=np.float32)
t_cam_map = -R.T @ t - self.center
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5 changes: 4 additions & 1 deletion elevation_mapping_cupy/src/elevation_mapping_ros.cpp
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Expand Up @@ -397,6 +397,9 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms
distortionCoeffs = Eigen::VectorXd::Zero(5);
// return;
}

// distortion model
std::string distortion_model = camera_info_msg->distortion_model;

// Get pose of sensor in map frame
tf::StampedTransform transformTf;
Expand Down Expand Up @@ -439,7 +442,7 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms

// Pass image to pipeline
map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix,
distortionCoeffs, image.rows, image.cols);
distortionCoeffs, distortion_model, image.rows, image.cols);
}

void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg,
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4 changes: 2 additions & 2 deletions elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp
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Expand Up @@ -178,10 +178,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector
}

void ElevationMappingWrapper::input_image(const std::vector<ColMatrixXf>& multichannel_image, const std::vector<std::string>& channels, const RowMatrixXd& R,
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, int height, int width) {
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const Eigen::VectorXd& D, const std::string distortion_model, int height, int width) {
py::gil_scoped_acquire acquire;
map_.attr("input_image")(multichannel_image, channels, Eigen::Ref<const RowMatrixXd>(R), Eigen::Ref<const Eigen::VectorXd>(t),
Eigen::Ref<const RowMatrixXd>(cameraMatrix), Eigen::Ref<const Eigen::VectorXd>(D), height, width);
Eigen::Ref<const RowMatrixXd>(cameraMatrix), Eigen::Ref<const Eigen::VectorXd>(D), distortion_model, height, width);
}

void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) {
Expand Down
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