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Gazebo camera distrortion

asked 2015-05-12 07:49:24 -0600

Andrea gravatar image

Hello everybody, I am trying to distort a camera mounted on my quadrotor according to the parameters of the sensor I have. I am using Gazebo 2.2.3 along with ROS Indigo under Ubuntu 14.04. I have my sdf set up in the following way:

  <sensor name="base_link_camera_sensor" type="camera">
    <pose>0 0 0 0 1.570793 0</pose>
    <camera name="head">
      <!--horizontal_fov is 60 degrees (approx 1.05 rad)-->
        <!-- check the camera intrinsic parameters -->
      <!-- Noise is sampled independently per pixel on each frame.
         That pixel's noise value is added to each of its color
         channels, which at that point lie in the range [0,1]. -->
    <plugin name="camera_controller" filename="">
      <distortionK2> 0.17008</distortionK2>
      <distortionK3> 0.00000</distortionK3>
      <distortionT1> 0.00122</distortionT1>

However, the image is not distorted and I get the following message

[ WARN] [1431434020.115191249]: gazeboroscamera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.

But according to this tutorial seem to be supported. Is there something wrong?

Thank you very much


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answered 2015-05-12 09:48:46 -0600

crzx5 gravatar image

The tutorial you are using is specifically for Gazebo 5+. There is no support for this feature (yet) in Gazebo 2.2.

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Correct, camera distortion is only available in gazebo5 and above. This feature will not be backported to gazebo2.

nkoenig gravatar imagenkoenig ( 2015-05-12 09:56:25 -0600 )edit

It is possible to use [gazebo5 with ROS](

nkoenig gravatar imagenkoenig ( 2015-05-12 10:03:17 -0600 )edit

Thanks, I will update gazebo.

Andrea gravatar imageAndrea ( 2015-05-12 10:05:41 -0600 )edit

Hello, I upgraded gazebo to the 5.x version. It still displays the error. It should now support distorted cameras, shouldn't it?

Andrea gravatar imageAndrea ( 2015-05-18 05:03:02 -0600 )edit

Yes, Gazebo should be fine. However, the warning message is from ROS, which likely does not support distortion. I should have noticed that earlier.

nkoenig gravatar imagenkoenig ( 2015-05-18 18:02:06 -0600 )edit
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Asked: 2015-05-12 07:49:24 -0600

Seen: 1,440 times

Last updated: May 12 '15