ROS2 | Camera info's distortion_model is invalid

omers · October 31, 2022, 9:58pm

Hi,

The published camera_info using the ROS2 Camera Helper node, has pinhole under its distortion_model:

This is an unsupported distortion model, which causes exceptions such as: Cannot call rectifyPoint when distortion is unknown.

Under CameraInfos documentation it references the supported distortion models, which are:

github.com

ros2/common_interfaces/blob/humble/sensor_msgs/include/sensor_msgs/distortion_models.hpp

// Copyright (c) 2010, Willow Garage, Inc.
// Copyright (c) 2017, Open Source Robotics Foundation, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

This file has been truncated. show original

rthaker · March 28, 2023, 3:05am

Hi - Sorry for the delay in the response. Let us know if you still having this issue with the latest Isaac Sim 2022.2.1 release.