Implementation of Aria Fisheye camera model #2786
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Converted to draft to debug |
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To test the camera model implementation -
I have also uploaded the script of this test for further clarity. |
B1ueber2y
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B1ueber2y
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I can confirm that the code is correct from my pass.
ahojnnes
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ahojnnes
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Thank you, looks great.
src/colmap/sensor/models.h
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| const T theta_divr = | ||
| (r < std::numeric_limits<T>::epsilon()) ? static_cast<T>(1.0) : theta / r; | ||
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| const T x = th_radial * theta_divr * u; |
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Should we move the theta_divr mapping outside the distortion function, such that the distortion returns zero offset for extra params all zero
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Ok we could also do it a separate PR by also updating OpenCVFisheye. Lets keep it in the current way for now
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This pull request implements a new camera model called the Aria Fisheye model. The Aria Fisheye model includes:
The camera model is described here -
https://facebookresearch.github.io/projectaria_tools/docs/tech_insights/camera_intrinsic_models#the-fisheyeradtanthinprism-fisheye624-model
For more details, one can also refer to the Project Aria implementation here -
https://github.com/facebookresearch/projectaria_tools/blob/main/core/calibration/camera_projections/FisheyeRadTanThinPrism.h
Thanks!