schema: add equirectangular camera model flag (#146)

Co-authored-by: David Torres Ocana (TME) <[email protected]>
TRI-ML · Jul 27, 2023 · a6a1022 · a6a1022
1 parent 7106ca4
commit a6a1022
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Showing 3 changed files with 13 additions and 22 deletions.
diff --git a/dgp/datasets/base_dataset.py b/dgp/datasets/base_dataset.py
@@ -42,26 +42,8 @@
 
 AVAILABLE_DATUM_TYPES = ("image", "point_cloud", "radar_point_cloud")
 AVAILABLE_DISTORTION_PARAMS = (
-    'k1',
-    'k2',
-    'k3',
-    'k4',
-    'k5',
-    'k6',
-    'p1',
-    'p2',
-    'alpha',
-    'beta',
-    'xi',
-    's1',
-    's2',
-    's3',
-    's4',
-    'taux',
-    'tauy',
-    'fov',
-    'fisheye',
-    'w',
+    'k1', 'k2', 'k3', 'k4', 'k5', 'k6', 'p1', 'p2', 'alpha', 'beta', 'xi', 's1', 's2', 's3', 's4', 'taux', 'tauy',
+    'fov', 'fisheye', 'w', 'equirectangular'
 )
 
 

diff --git a/dgp/proto/geometry.proto b/dgp/proto/geometry.proto
@@ -82,4 +82,6 @@ message CameraIntrinsics {
   // Parameters for Double Sphere model
   double xi = 25;
 
+  // Flag to indicate camera model is Equirectangular
+  int32  equirectangular = 26;
 }
diff --git a/dgp/proto/geometry_pb2.py b/dgp/proto/geometry_pb2.py