From 536653f9f7a376a18025152b070e5bf33bd411bc Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Thu, 18 Feb 2021 19:18:52 +0100 Subject: [PATCH] Add wideangle parameters --- config/adc_car/basler_camera_sim_config.yaml | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/config/adc_car/basler_camera_sim_config.yaml b/config/adc_car/basler_camera_sim_config.yaml index 2fbe6d5..7b61666 100644 --- a/config/adc_car/basler_camera_sim_config.yaml +++ b/config/adc_car/basler_camera_sim_config.yaml @@ -17,3 +17,17 @@ distortion_K2: 0.0 distortion_K3: 0.0 distortion_T1: 0.0 distortion_T2: 0.0 + +### wideangle camera +lens_type: custom +# when lens_type is custom +## manually defined mapping function r = c1*f*fun(theta/c2 + c3) +## More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function +lens_custom_function_c1: 1.05 #linear scaling +lens_custom_function_c2: 4 #angle scaling +lens_custom_function_f: 1.0 #scaling parameter +lens_custom_function_fun: tan #sin,tan,id + +lens_scale_to_hfov: true #if it is set to `true` your horizontal FOV will ramain as defined, othervise it depends on lens type and custom function, if there is one +lens_cutoff_angle: 3.1415 # clip everything that is outside of this angle +lens_env_texture_size: 512 # resolution of the cubemap texture, the highter it is - the sharper is your image -- GitLab