Stereo camera simulation Gazebo
Hi,
I created a sdf for the stereo camera using the Gazebo plugin (for publishing to ROS topics). However, There are few things I'm really confused about -
Even on setting <static> true </static>
in the sdf file, the cameras (left and right) images change on resizing the stereo camera ( for which Im just using a box as a mesh). Is this expected ?
More importantly, does this imply that the Translation between the two cameras has changed ?
( I tried verifying this by saving the new world file and comparing against the older one, but both had the same <hackBaseline>
tag value.
I wish to make some calculations based on the stereo cameras calibration parameters and hence this is quite important.
If someone wishes to see the relevant XML for this :
<sensor type="multicamera" name="stereo_camera">
<update_rate>30</update_rate>
<camera name="left">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<camera name="right">
<pose>0 -0.07 0 0 0 0</pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>sricam</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>left_camera_optical_frame</frameName>
<!--<rightFrameName>right_camera_optical_frame</rightFrameName>-->
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
I would be very grateful if someone can help out on this.
Thanks!
Asked by malhar on 2018-04-07 15:45:00 UTC
Answers
Malhar: What do you mean "resizing". Actually I am using the exactly same plugin as you are except the different parameters. My result is below. screen of gazebo C:\fakepath\gazebo.png and screen of RViz C:\fakepath\left and right image in RViz.png. PS: Do you know where I can see the cpp code of libgazebo_ros_multicamera.so ? Thank you very much.
Asked by luxiaojun on 2018-05-12 22:23:31 UTC
Comments