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e4d9e10492
- support depends, conflicts and provides nodes, all under a 'dep' node - autoload are kept for now and are not moved yet - modules are updated for new dep format - it is now required that module's name and filename are the same
51 lines
3.0 KiB
XML
51 lines
3.0 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cv_undistort_image" dir="computer_vision">
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<doc>
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<description>
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Undistortion a fisheyelens distortion of a whole image.
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Note that this is quite a slow process, so it is not really advisable to use this in a vision pipeline leading to control.
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However, it can be used to find the right undistortion parameter k, and shows that the undistortion functions work.
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The code also can be used to convert image coordinates from distorted fisheye lenses to undistorted coordinates and back.
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It takes into account the camera calibration matrix and the distortion of the specific lens.
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</description>
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<define name="UNDISTORT_MIN_X_NORMALIZED" value="-2.0" description="Minimal normalized x-coordinate to be used for the undistortion"/>
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<define name="UNDISTORT_MAX_X_NORMALIZED" value="2.0" description="Maximal normalized x-coordinate to be used for the undistortion"/>
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<define name="UNDISTORT_FPS" value="0" description="The (maximum) frequency to run the calculations at. If zero, it will max out at the camera frame rate"/>
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<define name="UNDISTORT_CAMERA" value="bottom_camera|front_camera" description="The V4L2 camera device that is used for the calculations"/>
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<define name="UNDISTORT_CENTER_RATIO" value="1.0" description="If smaller than 1 only generate pixels for the center_ratio times the min_x to max_x interval. This makes undistortion quicker, but for a smaller FOV."/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings NAME="Undistort">
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<dl_setting var="min_x_normalized" min="-4.0" step="0.1" max="0.0" shortname="min_x_n" param="UNDISTORT_MIN_X_NORMALIZED"/>
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<dl_setting var="max_x_normalized" min="0.1" step="0.1" max="4.0" shortname="max_x_n" param="UNDISTORT_MAX_X_NORMALIZED"/>
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<dl_setting var="camera_intrinsics.Dhane_k" min="1.0" step="0.01" max="2.5" shortname="dhane_k" param="UNDISTORT_DHANE_K"/>
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<dl_setting var="center_ratio" min="0.05" step="0.01" max="1.0" shortname="center_ratio" param="UNDISTORT_CENTER_RATIO"/>
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<dl_setting var="camera_intrinsics.focal_x" min="0.0" step="0.05" max="1024.0" shortname="focal_x" param="UNDISTORT_FOCAL_X"/>
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<dl_setting var="camera_intrinsics.center_x" min="0.0" step="0.05" max="1024.0" shortname="center_x" param="UNDISTORT_CENTER_X"/>
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<dl_setting var="camera_intrinsics.focal_y" min="0.0" step="0.05" max="1024.0" shortname="focal_y" param="UNDISTORT_FOCAL_Y"/>
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<dl_setting var="camera_intrinsics.center_y" min="0.0" step="0.05" max="1024.0" shortname="center_y" param="UNDISTORT_CENTER_Y"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>video_thread</depends>
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</dep>
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<header>
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<file name="undistort_image.h"/>
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</header>
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<init fun="undistort_image_init()"/>
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<makefile target="ap|nps">
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<file name="undistort_image.c"/>
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<file name="image.c" dir="modules/computer_vision/lib/vision"/>
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<file name="undistortion.c" dir="modules/computer_vision/lib/vision"/>
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</makefile>
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</module>
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