Use ipm distortion instead of image rectification #361
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jaagut
reviewed
Mar 22, 2024
| @@ -374,18 +374,19 @@ | |||
| </material> | |||
| </visual> | |||
| </link> | |||
| <link name="imu_frame"> | |||
| <!-- Renamed due to extrinsic calibration --> | |||
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My goal was to mention the new IMU (static) frames. We should document somewhere what the extrisic calibration does and where those frames magically come from...
bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
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Co-authored-by: Jan Gutsche <[email protected]>
…main into feature/ipm_distortion
jaagut
reviewed
Mar 27, 2024
| @@ -374,18 +374,19 @@ | |||
| </material> | |||
| </visual> | |||
| </link> | |||
| <link name="imu_frame"> | |||
| <!-- Renamed due to extrinsic calibration --> | |||
There was a problem hiding this comment.
My goal was to mention the new IMU (static) frames. We should document somewhere what the extrisic calibration does and where those frames magically come from...
jaagut
approved these changes
Mar 27, 2024
Co-authored-by: Jan Gutsche <[email protected]>
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Summary
Consider distortion in the IPM instead of rectifying the whole image, as the image rectification degrades the image quality and takes a significant amount of time. Also switch from the Ros Pylon Driver to a custom node that communicates with pylon. The reasoning behind this is a hard to fix timestamp issue in the driver. Also gets rid of the blaze dependency and a number of compiler warnings the other maintainer refused to fix.
Proposed changes
Related issues
Waits for ros-sports/ipm#64 and the linked PRs there.
Closes #363
Checklist
colcon build