Revision history [back]

Thank you for your answers.
I was rather looking for how to define a stereo camera (not how to visualize it), but the answer was interesting.

The old way of adding stereo cameras in Gazebo classic was to:
- attach a sensor to the camera_link
- set the sensor type to multicamera
- define two cameras in this sensor using the << camera >> tag
- add a plugin to the sensor
- explicitly set the baseline in the plugin using the << hack_baseline >> tag

Here is an example of stereo camera for Gazebo classic:

<gazebo reference="camera_link">
    <sensor type="multicamera" name="stereo_camera">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>

      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <camera name="right">
        <pose>0 -0.12 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <plugin name="stereo_camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace></namespace>
          <argument>image_raw:=image_raw</argument>
          <argument>camera_info:=camera_info</argument>
        </ros>

        <camera_name>stereo_camera</camera_name>
        <frame_name>camera_link_optical</frame_name>
        <hack_baseline>0.12</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

With Ignition, it is a little bit different. You have to:
- attach a sensor to the camera_link for each camera
- set the sensor type to camera
- make them publish at the same rate (see https://gazebosim.org/docs/citadel/comparison#sensors)
- add a sensor plugin to the model/robot
- the baseline is set automatically thanks to the cameras pose (see https://github.com/gazebosim/gz-sim/blob/3b6c0f2a0bc71c5ff391852615609deec3c03674/src/systems/sensors/Sensors.cc#L746-L750)

Here is an example of stereo camera for Gazebo classic:

  </gazebo>
    <plugin name="ignition::gazebo::systems::Sensors" filename="libignition-gazebo-sensors-system.so">
    </plugin>
  </gazebo>

  <gazebo reference="camera_link">
    <sensor type="camera" name="left">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>
      <pose>0 0 0 0 0 0</pose>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
      </image>
      <clip>
          <near>0.02</near>
          <far>300</far>
      </clip>
    </sensor>
    <sensor type="camera" name="right">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>
      <pose>0 -0.12 0 0 0 0</pose>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
      </image>
      <clip>
          <near>0.02</near>
          <far>300</far>
      </clip>
    </sensor>
  </gazebo>

Thank you for your answers.
I was rather looking for how to define a stereo camera (not how to visualize it), but the answer was interesting.

The old way of adding stereo cameras in Gazebo classic was to:
- attach a sensor to the camera_link
- set the sensor type to multicamera
- define two cameras in this sensor using the << camera >> tag
- add a plugin to the sensor
- explicitly set the baseline in the plugin using the << hack_baseline >> tag

Here is an example of stereo camera for Gazebo classic:

<gazebo reference="camera_link">
    <sensor type="multicamera" name="stereo_camera">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>

      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <camera name="right">
        <pose>0 -0.12 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <plugin name="stereo_camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace></namespace>
          <argument>image_raw:=image_raw</argument>
          <argument>camera_info:=camera_info</argument>
        </ros>

        <camera_name>stereo_camera</camera_name>
        <frame_name>camera_link_optical</frame_name>
        <hack_baseline>0.12</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

With Ignition, it is a little bit different. You have to:
- attach a sensor to the camera_link for each camera
- set the sensor type to camera
- make them publish at the same rate (see https://gazebosim.org/docs/citadel/comparison#sensors)
- add a sensor plugin to the model/robot
- the baseline is set automatically thanks to the cameras pose (see https://github.com/gazebosim/gz-sim/blob/3b6c0f2a0bc71c5ff391852615609deec3c03674/src/systems/sensors/Sensors.cc#L746-L750)

Here is an example of stereo camera for Gazebo classic: Ignition:

  </gazebo>
    <plugin name="ignition::gazebo::systems::Sensors" filename="libignition-gazebo-sensors-system.so">
    </plugin>
  </gazebo>

  <gazebo reference="camera_link">
    <sensor type="camera" name="left">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>
      <pose>0 0 0 0 0 0</pose>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
      </image>
      <clip>
          <near>0.02</near>
          <far>300</far>
      </clip>
    </sensor>
    <sensor type="camera" name="right">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>
      <pose>0 -0.12 0 0 0 0</pose>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
      </image>
      <clip>
          <near>0.02</near>
          <far>300</far>
      </clip>
    </sensor>
  </gazebo>

Thank you for your answers.
I was rather looking for how to define a stereo camera (not how to visualize it), but the answer was interesting.

The old way of adding stereo cameras in Gazebo classic was to:
- attach a sensor to the camera_link
- set the sensor type to multicamera
- define two cameras in this sensor using the << camera >> tag
- add a plugin to the sensor
- explicitly set the baseline in the plugin using the << hack_baseline >> tag

Here is an example of stereo camera for Gazebo classic:

<gazebo reference="camera_link">
    <sensor type="multicamera" name="stereo_camera">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>

      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <camera name="right">
        <pose>0 -0.12 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <plugin name="stereo_camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace></namespace>
          <argument>image_raw:=image_raw</argument>
          <argument>camera_info:=camera_info</argument>
        </ros>

        <camera_name>stereo_camera</camera_name>
        <frame_name>camera_link_optical</frame_name>
        <hack_baseline>0.12</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

With Ignition, it is a little bit different. You have to:
- attach a sensor to the camera_link for each camera
- set the sensor type to camera
- make them publish at the same rate (see https://gazebosim.org/docs/citadel/comparison#sensors)
- add a sensor plugin to the model/robot
- the baseline is set automatically thanks to the cameras pose (see https://github.com/gazebosim/gz-sim/blob/3b6c0f2a0bc71c5ff391852615609deec3c03674/src/systems/sensors/Sensors.cc#L746-L750)

Here is an example of stereo camera for Gazebo Ignition:

  </gazebo>
    <plugin name="ignition::gazebo::systems::Sensors" filename="libignition-gazebo-sensors-system.so">
    filename="libignition-gazebo-sensors-system.so"> </plugin>
  </gazebo>

  <gazebo reference="camera_link">
 <sensor type="camera" name="right">
  <update_rate>10.0</update_rate>
  <always_on>true</always_on>
  <ignition_frame_id>camera_link_optical</ignition_frame_id>
  <pose>0 -0.12 0 0 0 0</pose>
  <topic>stereo_camera/right/image_raw</topic>
  <horizontal_fov>1.3962634</horizontal_fov>
  <image>
      <width>1024</width>
      <height>1024</height>
      <format>R8G8B8</format>
  </image>
  <clip>
      <near>0.02</near>
      <far>300</far>
  </clip>
</sensor>
  <sensor type="camera" name="left">
   <topic>stereo_camera/left/image_raw</topic>
  <update_rate>10.0</update_rate>
   <always_on>true</always_on>
   <ignition_frame_id>camera_link_optical</ignition_frame_id>
  <pose>0 0 0 0 0 0</pose>
   <horizontal_fov>1.3962634</horizontal_fov>
   <image>
       <width>1024</width>
       <height>1024</height>
       <format>R8G8B8</format>
   </image>
   <clip>
       <near>0.02</near>
       <far>300</far>
   </clip>
 </sensor>
    <sensor type="camera" name="right">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>
      <pose>0 -0.12 0 0 0 0</pose>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
      </image>
      <clip>
          <near>0.02</near>
          <far>300</far>
      </clip>
    </sensor>
  </gazebo>

Thank you for your answers.
I was rather looking for how to define a stereo camera (not how to visualize it), but the answer was interesting.

The old way of adding stereo cameras in Gazebo classic was to:
- attach a sensor to the camera_link
- set the sensor type to multicamera
- define two cameras in this sensor using the << camera >> tag
- add a plugin to the sensor
- explicitly set the baseline in the plugin using the << hack_baseline >> tag

Here is an example of stereo camera for Gazebo classic:

<gazebo reference="camera_link">
    <sensor type="multicamera" name="stereo_camera">
      <update_rate>10.0</update_rate>
      <always_on>true</always_on>

      <camera name="left">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <camera name="right">
        <pose>0 -0.12 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>1024</width>
          <height>1024</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.0</stddev>
        </noise>
        <distortion>
          <k1>0.0</k1>
          <k2>0.0</k2>
          <k3>0.0</k3>
          <p1>0.0</p1>
          <p2>0.0</p2>
          <center>0.5 0.5</center>
        </distortion>
      </camera>

      <plugin name="stereo_camera_controller" filename="libgazebo_ros_camera.so">
        <ros>
          <namespace></namespace>
          <argument>image_raw:=image_raw</argument>
          <argument>camera_info:=camera_info</argument>
        </ros>

        <camera_name>stereo_camera</camera_name>
        <frame_name>camera_link_optical</frame_name>
        <hack_baseline>0.12</hack_baseline>
      </plugin>
    </sensor>
  </gazebo>

With Ignition, it is a little bit different. You have to:
- attach a sensor to the camera_link for each camera
- set the sensor type to camera
- make them publish at the same rate (see https://gazebosim.org/docs/citadel/comparison#sensors)
- add a sensor plugin to the model/robot
- the baseline is set automatically thanks to the cameras pose (see https://github.com/gazebosim/gz-sim/blob/3b6c0f2a0bc71c5ff391852615609deec3c03674/src/systems/sensors/Sensors.cc#L746-L750)

Here is an example of stereo camera for Gazebo Ignition:

  </gazebo>
    <plugin name="ignition::gazebo::systems::Sensors" filename="libignition-gazebo-sensors-system.so"> </plugin>
  </gazebo>

  <gazebo reference="camera_link">
<sensor type="camera" name="right">
  <update_rate>10.0</update_rate>
  <always_on>true</always_on>
  <ignition_frame_id>camera_link_optical</ignition_frame_id>
  <pose>0 -0.12 0 0 0 0</pose>
  <topic>stereo_camera/right/image_raw</topic>
  <horizontal_fov>1.3962634</horizontal_fov>
  <image>
      <width>1024</width>
      <height>1024</height>
      <format>R8G8B8</format>
  </image>
  <clip>
      <near>0.02</near>
      <far>300</far>
  </clip>
</sensor>
  <sensor type="camera" name="left">
  <topic>stereo_camera/left/image_raw</topic>
  <update_rate>10.0</update_rate>
  <always_on>true</always_on>
  <ignition_frame_id>camera_link_optical</ignition_frame_id>
  <pose>0 0 0 0 0 0</pose>
  <horizontal_fov>1.3962634</horizontal_fov>
  <image>
      <width>1024</width>
      <height>1024</height>
      <format>R8G8B8</format>
  </image>
  <clip>
      <near>0.02</near>
      <far>300</far>
  </clip>
</sensor>
</gazebo>