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Add distortion to input image function #97

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Add distortion to input image function #97

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2 changes: 1 addition & 1 deletion elevation_mapping_cupy/include/elevation_mapping_cupy/elevation_mapping_wrapper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ class ElevationMappingWrapper {
void input(const RowMatrixXd& points, const std::vector<std::string>& channels, const RowMatrixXd& R, const Eigen::VectorXd& t,
const double positionNoise, const double orientationNoise);
void input_image(const std::vector<ColMatrixXf>& multichannel_image, const std::vector<std::string>& channels, const RowMatrixXd& R,
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width);
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const RowMatrixXd& D, int height, int width);
void move_to(const Eigen::VectorXd& p, const RowMatrixXd& R);
void clear();
void update_variance();
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2 changes: 2 additions & 0 deletions elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping.py
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Expand Up @@ -466,6 +466,7 @@ def input_image(
R: cp._core.core.ndarray,
t: cp._core.core.ndarray,
K: cp._core.core.ndarray,
D: cp._core.core.ndarray,
image_height: int,
image_width: int,
):
Expand Down Expand Up @@ -514,6 +515,7 @@ def input_image(
y1,
z1,
P.reshape(-1),
D.reshape(-1),
image_height,
image_width,
self.center,
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2 changes: 1 addition & 1 deletion elevation_mapping_cupy/script/elevation_mapping_cupy/elevation_mapping_ros.py
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Expand Up @@ -177,7 +177,7 @@ def image_callback(self, camera_msg, camera_info_msg, sub_key):
assert np.all(np.array(camera_info_msg.D) == 0.0), "Undistortion not implemented"
K = np.array(camera_info_msg.K, dtype=np.float32).reshape(3, 3)
# process pointcloud
self._map.input_image(sub_key, semantic_img, R, t, K, camera_info_msg.height, camera_info_msg.width)
self._map.input_image(sub_key, semantic_img, R, t, K, D, camera_info_msg.height, camera_info_msg.width)
self._image_process_counter += 1

def pointcloud_callback(self, msg, sub_key):
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20 changes: 18 additions & 2 deletions elevation_mapping_cupy/script/elevation_mapping_cupy/kernels/custom_image_kernels.py
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Expand Up @@ -13,7 +13,7 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co
The function returns a kernel that can be used to perform the correspondence calculation.
"""
_image_to_map_correspondence_kernel = cp.ElementwiseKernel(
in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw U image_height, raw U image_width, raw U center",
in_params="raw U map, raw U x1, raw U y1, raw U z1, raw U P, raw D, raw U image_height, raw U image_width, raw U center",
out_params="raw U uv_correspondence, raw B valid_correspondence",
preamble=string.Template(
"""
Expand Down Expand Up @@ -64,7 +64,23 @@ def image_to_map_correspondence_kernel(resolution, width, height, tolerance_z_co
// filter point next to image plane
if ((u < 0) || (v < 0) || (u >= image_width) || (v >= image_height)){
return;
}
}

// Apply undistortion using distortion matrix D
float k1 = D[0];
float k2 = D[1];
float p1 = D[2];
float p2 = D[3];
float k3 = D[4];
float x = (u - image_width / 2.0) / (image_width / 2.0);
float y = (v - image_height / 2.0) / (image_height / 2.0);
float r2 = x * x + y * y;
float radial_distortion = 1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2;
float x_corrected = x * radial_distortion + 2 * p1 * x * y + p2 * (r2 + 2 * x * x);
float y_corrected = y * radial_distortion + 2 * p2 * x * y + p1 * (r2 + 2 * y * y);
u = (x_corrected * (image_width / 2.0)) + (image_width / 2.0);
v = (y_corrected * (image_height / 2.0)) + (image_height / 2.0);


int y0_c = y0;
int x0_c = x0;
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7 changes: 5 additions & 2 deletions elevation_mapping_cupy/src/elevation_mapping_ros.cpp
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Expand Up @@ -388,6 +388,9 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms
// Extract camera matrix
Eigen::Map<const Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> cameraMatrix(&camera_info_msg->K[0]);

// Extract distortion coefficients
Eigen::Map<const Eigen::VectorXd> distortionCoeffs(camera_info_msg->D.data(), camera_info_msg->D.size());

// Get pose of sensor in map frame
tf::StampedTransform transformTf;
std::string sensorFrameId = image_msg->header.frame_id;
Expand Down Expand Up @@ -428,8 +431,8 @@ void ElevationMappingNode::inputImage(const sensor_msgs::ImageConstPtr& image_ms
}

// Pass image to pipeline
map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix,
image.rows, image.cols);
map_.input_image(multichannel_image, channels, transformationMapToSensor.rotation(), transformationMapToSensor.translation(), cameraMatrix,
distortionCoeffs, image.rows, image.cols);
}

void ElevationMappingNode::imageCallback(const sensor_msgs::ImageConstPtr& image_msg,
Expand Down
4 changes: 2 additions & 2 deletions elevation_mapping_cupy/src/elevation_mapping_wrapper.cpp
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Expand Up @@ -178,10 +178,10 @@ void ElevationMappingWrapper::input(const RowMatrixXd& points, const std::vector
}

void ElevationMappingWrapper::input_image(const std::vector<ColMatrixXf>& multichannel_image, const std::vector<std::string>& channels, const RowMatrixXd& R,
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, int height, int width) {
const Eigen::VectorXd& t, const RowMatrixXd& cameraMatrix, const RowMatrixXd& D, int height, int width) {
py::gil_scoped_acquire acquire;
map_.attr("input_image")(multichannel_image, channels, Eigen::Ref<const RowMatrixXd>(R), Eigen::Ref<const Eigen::VectorXd>(t),
Eigen::Ref<const RowMatrixXd>(cameraMatrix), height, width);
Eigen::Ref<const RowMatrixXd>(cameraMatrix), Eigen::Ref<const RowMatrixXd>(D), height, width);
}

void ElevationMappingWrapper::move_to(const Eigen::VectorXd& p, const RowMatrixXd& R) {
Expand Down
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