Resolve "Camera intrinsics: rectified or raw images?"
Closes #178
Merge request reports
Activity
removed bug label
assigned to @jsola
@mederic_fourmy please checkout this MR. New
SensorCamera
API regarding Raw/Rectified images and the choice for the appropriate intrinsic params.Mind that this choice is not done through the YAML file of the camera, because it is rather a choice that depends on how we are going to use the camera. Therefore, I think it's the processor who should configure the camera according to how the images are going to be processed.
A simple call to
camera.useRawImages()
orcamera.useRectifiedImages()
should do the trick. This call needs to be done in theprocessor.configure()
method of the processor, according to a parameter in the processor.Mind that, after configuring the camera, the processor might need to update some of its data. In particular, the intrinsic matrices, which are copied in the processor, need to be updated. All this must be done inside
configure()
.Notice that this MR does not modify any of the processors using SensorCamera.
Edited by Joan Solà Ortegamentioned in commit 6ad41545
mentioned in issue #178