How to calculate the distortion parameters.

[MayooranT]

I am using the depth image to use it from ROS2 end for my project.

I get the undistort map from the longthrow depth image calibration mode. Now i have to use it for the CameraInfo msg as one of ROS2 supported distortion models. If the "plumb_bob" model is suitable, is there any way I can calculate the 5 parameters (k1, k2, t1, t2, k3) for this model?

Or should I use this undistort map in some other way?

[jdibenes]

You can undistort depth images using

hl2ss/viewer/sample_integrator_pv.py

Line 110 in fcc4e84

depth = hl2ss_3dcv.rm_depth_undistort(data_lt.payload.depth, calibration_lt.undistort_map)