Carla: Lens distortion attributes

[ffabi]

Can you help me find the correlation between the lens distortion attributes defined in Carla and radial/tangential distortion coefficients?

OpenCV documentation defines k1-k6 for radial distortion and p1, p2 for tangential distortion:
https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

I would like to define these values, can you help me calculate the attributes needed for Carla camera sensor?
Can you provide a more detailed description of these values?

Maybe lens_k = k1 and lens_kcube = k2 ?

I could not find these Carla attributes in Unreal engine documentation either.

[germanros1987]

@marcgpuig which model did you follow to implement the lens distortion?

[ffabi]

For a while, pinhole camera model was sufficient for me, but I would like to generate images with a given radial and tangential distortion according to the Brown–Conrady model. I would like to mimic a real-world sensor which has defined k1, k2, p1, p2, k3 parameters.

[germanros1987]

@marcgpuig are we using the Brown–Conrady model to create the lens distortion?

[jerryliu20001]

I have the same problem about the lens distortion attributes defined in CARLA.
If the default value of the lens_k and lens_kcube mean without distortion, the assumption of the lens_k=k1 and lens_kcube=k2 are unreasonable.
In addition, I am also confused about the other attributes.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

[stale[bot]]

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.