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Omni-directional camera setup in Gazebo

asked 2014-11-14 15:54:38 -0500

skg gravatar image

How to setup omni-directional camera in gazebo?

My normal wge100 Camera is already under simulation and i can subscribe to /camera/image_raw topic and dump the images.

1) how to setup the omni camera in the robot urdf file. 2) how to set the mirror interface or alternatively how the image distortion can be acquired.

Thanks in Advance!

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answered 2014-11-28 02:00:52 -0500

Stefan Kohlbrecher gravatar image

(Basic) Distortion support was added a few weeks ago, see Creating a camera with distortion wiki page and associated merged pull request on Bitbucket. Looks like this still uses the default pinhole model as a base, so if you want to simulate a complex catadioptric camera system it might not be sufficient.

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You can setup multiple cameras, and post-process the images to create an omni-directional camera. This is not ideal, but could get you a rough approximation.

nkoenig gravatar imagenkoenig ( 2014-12-01 12:03:15 -0500 )edit
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Asked: 2014-11-14 15:54:38 -0500

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Last updated: Nov 28 '14