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2016-10-21 09:07:02 -0600 commented answer Customize CameraLens function for Wide angle (fish eye) cameras

Thanks for the reply. I just found its implemented in the shader 'wide_lens_map_vs.glsl'. But <horizontal_fov> is not 'theta' exactly. The value of 'theta' is calculated in the same shader.

2016-10-21 08:23:38 -0600 commented answer Customize CameraLens function for Wide angle (fish eye) cameras

I already in the tutorial how to use the custom type lens with the same mapping function r = c1ffun(theta/c2+c3). But, I need to change the function itself. In the source code, I see the values for c1, c2, c3 etc are set to the shader. But I cannot really find, where r = c1ffun(theta/c2+c3) is implemented in the source code?

2016-10-21 08:23:11 -0600 answered a question Customize CameraLens function for Wide angle (fish eye) cameras

I already in the tutorial how to use the custom type lens with the same mapping function r = c1ffun(theta/c2+c3). But, I need to change the function itself.

In the source code, I see the values for c1, c2, c3 etc are set to the shader. But I cannot really find, where r = c1ffun(theta/c2+c3) is implemented in the source code?

2016-10-20 11:46:39 -0600 answered a question Running a Camera Sensor Headless

In Gazebo, open Windows-> Topic Visualization or press ctrl+T. "Topic Selector" dialog box appears, check for topics under title - 'gazebo.msgs.ImageStamped'. There you can see the list of raw images published. You can even select the topic by double clicking on it and so you can view the data in the topic (image or numbers).

If you cannot see the topic Image Stamped, there could be some error in ".sdf/.world" files. Check for the error msgs in terminal.

Note: Try using latest Gazebo versions. I use ROS jade with Gazebo7. ($ sudo apt-get install ros-jade-gazebo7-ros-pkgs)

2016-10-20 11:46:37 -0600 asked a question Customize CameraLens function for Wide angle (fish eye) cameras

In class CameraLens(), [r = c1ffun(theta/c2+c3)], I like to define my own mapping function using theta as input for the function (for example - Polynomial Fish Eye Transform). I like to know what is the better way of doing it.

Some important issues are: 1. I cannot access the value of 'theta' and so I could not define anything on my own. 2. I cannot set the value of 'r' for the above mentioned mapping function. 3. I don't have access to the source code of CameraLens() class? If so, then I could implement something on my own.

How the see the implementation of CameraLens() class?

PS: I already checked this tutorial http://gazebosim.org/tutorials?tut=wi... . I dont want to use any standard models like gnomonical, stereographic, equidistant, equisolid_angle, orthographic.