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Gazebo camera distrortion

asked 2015-05-12 07:49:24 -0500

Andrea gravatar image

Hello everybody, I am trying to distort a camera mounted on my quadrotor according to the parameters of the sensor I have. I am using Gazebo 2.2.3 along with ROS Indigo under Ubuntu 14.04. I have my sdf set up in the following way:

  <sensor name="base_link_camera_sensor" type="camera">
    <pose>0 0 0 0 1.570793 0</pose>
    <camera name="head">
      <!--horizontal_fov is 60 degrees (approx 1.05 rad)-->
      <horizontal_fov>1.047</horizontal_fov>
      <image>
        <!-- check the camera intrinsic parameters -->
        <width>320</width>
        <height>240</height>
        <format>L8</format>
      </image>
      <clip>
        <near>0.02</near>
        <far>300</far>
      </clip>
      <noise>
      <type>gaussian</type>
      <!-- Noise is sampled independently per pixel on each frame.
         That pixel's noise value is added to each of its color
         channels, which at that point lie in the range [0,1]. -->
      <mean>0.0</mean>
      <stddev>0.02</stddev>
      </noise>
    </camera>
    <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
      <robotNamespace>/vtol/camera</robotNamespace>
      <alwaysOn>true</alwaysOn>
      <updateRate>50.0</updateRate>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
      <frameName>camera_link</frameName>
      <hackBaseline>0.07</hackBaseline>
      <distortionK1>-0.43172</distortionK1>
      <distortionK2> 0.17008</distortionK2>
      <distortionK3> 0.00000</distortionK3>
      <distortionT1> 0.00122</distortionT1>
      <distortionT2>-0.00030</distortionT2>
    </plugin>
  </sensor>

However, the image is not distorted and I get the following message

[ WARN] [1431434020.115191249]: gazeboroscamera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

But according to this tutorial seem to be supported. Is there something wrong?

Thank you very much

Andrea

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answered 2015-05-12 09:48:46 -0500

crzx5 gravatar image

The tutorial you are using is specifically for Gazebo 5+. There is no support for this feature (yet) in Gazebo 2.2.

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Correct, camera distortion is only available in gazebo5 and above. This feature will not be backported to gazebo2.

nkoenig gravatar imagenkoenig ( 2015-05-12 09:56:25 -0500 )edit

It is possible to use [gazebo5 with ROS](http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install#Gazebo5inROS)

nkoenig gravatar imagenkoenig ( 2015-05-12 10:03:17 -0500 )edit

Thanks, I will update gazebo.

Andrea gravatar imageAndrea ( 2015-05-12 10:05:41 -0500 )edit

Hello, I upgraded gazebo to the 5.x version. It still displays the error. It should now support distorted cameras, shouldn't it?

Andrea gravatar imageAndrea ( 2015-05-18 05:03:02 -0500 )edit

Yes, Gazebo should be fine. However, the warning message is from ROS, which likely does not support distortion. I should have noticed that earlier.

nkoenig gravatar imagenkoenig ( 2015-05-18 18:02:06 -0500 )edit
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Asked: 2015-05-12 07:49:24 -0500

Seen: 1,191 times

Last updated: May 12 '15