Hello everyone,

I'm trying to implement a camera sensor on my robot. For a classic camera, no problem it's working but not if I try to make this camera a wide angle camera :/ It seems that the features that we can see on this tuto https://classic.gazebosim.org/tutorials?tut=wide_angle_camera&cat= are still not implemented in gazebo ign/sim. It seems that a lot of the sdf tags for the camera sensor have no effects (<cutoff_angle> for example).

The only thing that have an effect is the tag <horizontal_fov>. But when I increase it to much everything looks far away, if I try to set it to 180deg the image has no more sense. So is there a way to simulate a wide angle camera in ign/sim ?

My code for the cam:

<sensor name="camera" type="camera">
        <camera>
          <horizontal_fov>3</horizontal_fov>
          <image>
            <width>720</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <lens>
            <type>stereographic</type>
            <scale_to_hfov>false</scale_to_hfov>
            <cutoff_angle>3.14</cutoff_angle> 
          </lens>
        </camera>
        <always_on>1</always_on>
        <update_rate>24</update_rate>
        <visualize>true</visualize>
        <topic>wide_camera_left</topic>
</sensor>

Have a nice day and thank you for your time !