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Allow for n distortion params #93

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Allow for n distortion params #93

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ToniRV
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@ToniRV ToniRV commented Jun 29, 2020

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@violetteavi
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@ToniRV Is this ready to pull?
My review will be to build and use it lol

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ToniRV commented Jun 30, 2020

Ready yes! Let me know how it goes!

@violetteavi
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@ToniRV When I build it with current Kimera-VIO-ROS master , I get the following error:

/home/andrew/catkin_ws/src/Kimera-VIO-ROS/src/utils/UtilsRos.cpp:84:58: error: ‘class VIO::CameraParams’ has no member named ‘calibration_’; did you mean ‘camera_id_’?
                                             &cam_params->calibration_);

Do you have a pair of Kimera-VIO and Kimera-VIO-ROS branches that compile here?

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It looks like Kimera-VIO-ROS has a stubbed method for mapping coefficients to gtsam calibration functions. Because the calibration_ field appears to have been removed in the refactor, I assume this stubbed method is no longer necessary-- I'm going to remove it and see if it compiles.

  VIO::CameraParams::createGtsamCalibration(cam_params->distortion_coeff_,
                                            cam_params->intrinsics_,
                                            &cam_params->calibration_);

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Fixed Kimera-VIO-ROS branch fix/distortion. It compiles-- going to test the five-parameter distortion models now.

violetteavi and others added 6 commits July 1, 2020 18:55
…a-VIO into fix/distortion

* 'feature/euroc_playground' of github.mit.edu:SPARK/Kimera-VIO:
  Fix sensor name
  Disable testEurocPlayground for now, needs dataset
  Add display flag to tests
  Do not display when running tests
  Wrap-up with camera, stereo_camera, and undistortrectifier
  Store depth maps
  Add mono camera, not tested
  Minor rename in euroc dataprov
  Fix pipeline: kalpha in stereo set to -1
  Avoid unecessary math for baseline..
  Fix errors from merge, update to OpenCvDisplay and Viz
  HUGE Commit: something broke for pipeline, add euroc playground stereo recons
  Add projection in stereo camera
  Remove unneeded statics in euroc play
  Finally got imgs in EurocPlayground right
  HUGE: fix opencv viz bug, improve euroc playground
  Add EurocPlayground
Comment on lines +95 to +96
cv::Mat
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I believe you removed K_ by mistake

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3 participants