feat(autoware_image_undistortion): correct camera image undistortion#337
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sakunaka39 wants to merge 14 commits intoautowarefoundation:mainfrom
Open
feat(autoware_image_undistortion): correct camera image undistortion#337sakunaka39 wants to merge 14 commits intoautowarefoundation:mainfrom
sakunaka39 wants to merge 14 commits intoautowarefoundation:mainfrom
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Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
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Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
manato
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Jan 27, 2026
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@sakunaka39
Thank you for your contribution!
I left some comments that I noticed. I'd appreciate if if you could consider them.
Besides, from the perspective of the node behavior, I think autoware_image_"un"distortion is a more appropriate name for the node because this node performs undistortion (getting rid of lens distortion). Considering this point would also be appreciated!
Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
sakunaka39
changed the title
Signed-off-by: sakunaka39 <shotaro.nakamura@tier4.jp>
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manato
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Apr 17, 2026
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manato
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Thank you very much for dealing with all my comments. LGTM!
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Description
This PR introduces a new package
autoware_image_undistortionto rectify distorted images from cameras. This package subscribes to raw or compressed images and camera info, performs rectification usingimage_geometry, and publishes the rectified images.Changes
autoware_image_undistortionpackage.ImageUndistortionnode to rectify images usingimage_geometry::PinholeCameraModel.aip_x2_gen2).rawandcompressedimage transport.Results
Before (Distorted)
After (Rectified)
How was this PR tested?
ros2 launch autoware_image_undistortion undistortion.launch.xml sensor_model:=sample_sensor_kit/sensing/camera/camera*/image_rect.