Distorsion problem

[saramg0]

The program doesnt work with that camera info
i dont know if its because of the distorsion model
: equidistant (fisheye/eye-fish)

header:
stamp:
sec: 1759842258
nanosec: 831630048
frame_id: pylon_camera
height: 1200
width: 1920
distortion_model: equidistant
d:

• -1.152516
• 2.913204
• -2.482336
• 0.178503
  k:
• 1133.11191
• 4.26466
• 960.73323
• 0.0
• 1128.01793
• 600.81623
• 0.0
• 0.0
• 1.0
  r:
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0
  p:
• 1133.11191
• 4.26466
• 960.73323
• 0.0
• 0.0
• 1128.01793
• 600.81623
• 0.0
• 0.0
• 0.0
• 1.0
• 0.0
  binning_x: 1
  binning_y: 1
  roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false
  im attaching the images of what they look in case it helps to identify the error

[TillBeemelmanns]

Thanks for reporting this issue. Yes, currently fisheye cameras are not supported. It would required a quite large set of changes, as I would need to use OpenCVs fisheye functions e.g. cv::fisheye::projectPoints for projection and calibration. Since, I do not have a rosbag with fisheye camera at hand, it would be difficult to develop and debug that.

[saramg0]

Its easy to implement the changes for fisheye camera? If It IS, you could tell me where IS the problem and i would try to fix it El mar, 11 nov 2025, 11:21, Till Beemelmanns ***@***.***> escribió:

…

*TillBeemelmanns* left a comment (ika-rwth-aachen/ros2_calib#6) <#6 (comment)> Thanks for reporting this issue. Yes, currently fisheye cameras are not supported. It would required a quite large set of changes, as I would need to use OpenCVs fisheye functions e.g. cv::fisheye::projectPoints for projection and calibration. Since, I do not have a rosbag with fisheye camera at hand, it would be difficult to develop and debug that. — Reply to this email directly, view it on GitHub <#6 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/BR3NOJUY556FCRWTUQMPBRL34G2DVAVCNFSM6AAAAACLOEBAVOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTKMJWGA4TQMZVHA> . You are receiving this because you authored the thread.Message ID: ***@***.***>