Motion blur in camera images by shutter speed

asked 2017-11-02 12:26:20 -0600

tik0 gravatar image

updated 2017-11-02 12:27:03 -0600

Hi there,

I wonder how it is possible to simulate motion blur in camera images via Gazebo. In real life this is caused by the shutter speed, where the shutter is open for a specific amount of time to gather the photons while an object moves through the scene. I already thought about supersampling: Have a simulated framerate of 1000 fps, a shutter speed of 15 ms, and a requested framerate of e.g. 10 fps. Then, every 100 ms 15 images are taken from the scene which are summed up and normalized. This is actually a valid approach but causes also pretty heavy CPU load.

Does anyone have a better idea?

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You can do this in the GPU. You would need some knowledge of OGRE which is the rendering engine gazebo uses. The general idea is to create a gazebo sensor plugin that loads an OGRE compositor for doing motion blur, and setting that on the camera. This is how gazebo is applying gaussian noise to the cameras:

iche033 gravatar imageiche033 ( 2017-11-08 12:49:36 -0600 )edit