Support for fisheye (instaX5). - #536

Merged

JanuszBedkowski merged 34 commits into

mainfrom

mp/equirectangular-camera-model

Sep 25, 2026

Commits on Sep 24, 2026

Add calibration tooling to manual_color: intensity view, extrinsics/intensity windows, 2D overlay, CLI, error display

michalpelka
and
claude
committed
bbfcbe9
Add an equirectangular camera model to calib_core and the trajectory viewer

michalpelka
and
claude
committed
e36ff3c
Add the Mei/unified-sphere camera model to calib_core and camera_lidar_calibration

michalpelka
and
claude
committed
5a98418
Draw intensity

michalpelka
and
claude
committed
8e51060
Add Mei camera support to the trajectory viewer and its exports

michalpelka
and
claude
committed
5109afb
Mask images in the trajectory viewer's coloring, and scale the ROI

michalpelka
and
claude
committed
0ddf2fc
Reject Mei directions past the fold-back angle, not just past the denominator

michalpelka
and
claude
committed
110844c
Drop the inline off-axis cutoff the rebase reinstated in the trajectory viewer

michalpelka
and
claude
committed
8965268
Ignore local build directories and rosbags.zip

michalpelka
and
claude
committed
3931a7f
Invert the extrinsics manual_color reads from a calibration JSON

michalpelka
and
claude
committed
5403b67
Drop calib_core's yaml-cpp and OpenCV dependencies, and tidy the contribution

michalpelka
and
claude
committed
b01f2bc
Document MeiCamera.h and CameraCalibrationSolver.h in doxygen style

michalpelka
and
claude
committed
77f9745
Document Trajectory.h and CliArgs.h in doxygen style

michalpelka
and
claude
committed
d166f02
Fold the MeiCamera struct into Intrinsics

michalpelka
and
claude
committed
8a9ac85
Drop rectification from the ROS 2 bag export

michalpelka
and
claude
committed
8ed49f1
Trim the comment essays in the trajectory viewer, and use doxygen

michalpelka
and
claude
committed
30c9e16
Trim the pre-existing comment essays in the trajectory viewer

michalpelka
and
claude
committed
2e04b41
Load camera serial no to calibration tool
michalpelka
committed
238b5e2
Fix calib_core build on macOS: add nlohmann/json include dir

michalpelka
and
claude
committed
9a9a19d
Fix clang-format and macOS pole-precision test failures in PR #536

michalpelka
and
claude
committed
df70e6a
TrajectoryViewer: detect sessions via .mjs on drop/--mjs; log Mei stub to stderr

michalpelka
and
claude
committed
ee996c8
Add session_to_mcap: session -> MCAP exporter (imu, undistorted lidar, tf)

michalpelka
and
claude
committed
63025ba
Fix CI failures on PR #536: clang-format and rosbags test channel count

michalpelka
and
claude
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508b151
Rewrite LoadTimestampFromSideCar to use nlohmann::json

michalpelka
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claude
committed
12fade8
Fix trajectory CSV parsing of fractional timestamps

michalpelka
and
claude
committed
b85d4bc
TrajectoryViewer: track per-point color validity, add valid-color-only LAZ export

michalpelka
and
claude
committed
4548156

Commits on Sep 25, 2026

Remove the equirectangular camera model

michalpelka
and
claude
committed
748a54c
Add the OpenCV fisheye (equidistant) camera model

michalpelka
and
claude
committed
b79b53d
Load every flat camera_info.yaml model, not just Mei

michalpelka
and
claude
committed
86c6bbc
retire legacy coloring tools
michalpelka
committed
9af2002
Bump version + fix for MacOS install
michalpelka
committed
6b47b11
Retire single session viewer
michalpelka
committed
b516813
Fix calibration identity load, CLI-only core_no_gui, deploy list

michalpelka
and
claude
committed
8a82965
Revert "Retire single session viewer"

michalpelka
and
claude
committed
2320a32

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Support for fisheye (instaX5). - #536

Support for fisheye (instaX5).#536
JanuszBedkowski merged 34 commits into
mainfrom
mp/equirectangular-camera-model

Commits on Sep 24, 2026

Add calibration tooling to manual_color: intensity view, extrinsics/intensity windows, 2D overlay, CLI, error display

Add an equirectangular camera model to calib_core and the trajectory viewer

Add the Mei/unified-sphere camera model to calib_core and camera_lidar_calibration

Draw intensity

Add Mei camera support to the trajectory viewer and its exports

Mask images in the trajectory viewer's coloring, and scale the ROI

Reject Mei directions past the fold-back angle, not just past the denominator

Drop the inline off-axis cutoff the rebase reinstated in the trajectory viewer

Ignore local build directories and rosbags.zip

Invert the extrinsics manual_color reads from a calibration JSON

Drop calib_core's yaml-cpp and OpenCV dependencies, and tidy the contribution

Document MeiCamera.h and CameraCalibrationSolver.h in doxygen style

Document Trajectory.h and CliArgs.h in doxygen style

Fold the MeiCamera struct into Intrinsics

Drop rectification from the ROS 2 bag export

Trim the comment essays in the trajectory viewer, and use doxygen

Trim the pre-existing comment essays in the trajectory viewer

Load camera serial no to calibration tool

Fix calib_core build on macOS: add nlohmann/json include dir

Fix clang-format and macOS pole-precision test failures in PR #536

TrajectoryViewer: detect sessions via .mjs on drop/--mjs; log Mei stub to stderr

Add session_to_mcap: session -> MCAP exporter (imu, undistorted lidar, tf)

Fix CI failures on PR #536: clang-format and rosbags test channel count

Rewrite LoadTimestampFromSideCar to use nlohmann::json

Fix trajectory CSV parsing of fractional timestamps

TrajectoryViewer: track per-point color validity, add valid-color-only LAZ export

Commits on Sep 25, 2026

Remove the equirectangular camera model

Add the OpenCV fisheye (equidistant) camera model

Load every flat camera_info.yaml model, not just Mei

retire legacy coloring tools

Bump version + fix for MacOS install

Retire single session viewer

Fix calibration identity load, CLI-only core_no_gui, deploy list

Revert "Retire single session viewer"