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camera_info has wrong distortion coefficients and the Window->Topic Visualization in gazebo has no image topic

Hello, I add a Kinect in the gazebo and publish the ros topic by libgazebo_ros_openni_kinect. I found that the distortion coefficients in /camera/rgb/camera_info is all zero, the camera_info details is:

header: 
  seq: 95
  stamp: 
    secs: 2793
    nsecs: 488000000
  frame_id: "camera_depth_optical_frame"
height: 480
width: 640
distortion_model: "plumb_bob"
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [554.254691191187, 0.0, 320.5, 0.0, 554.254691191187, 240.5, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [554.254691191187, 0.0, 320.5, -0.0, 0.0, 554.254691191187, 240.5, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi: 
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: False

the configuration of kinect in gazebo is below:

<?xml version="1.0"?>
<robot name="kinect_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">
  <xacro:macro name="betago_sim_3dsensor">
    <gazebo reference="camera_link">
      <sensor type="depth" name="camera">
        <always_on>true</always_on>
          <visualize>true</visualize>
        <update_rate>20.0</update_rate>
        <camera>
          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
          <image>
            <format>B8G8R8</format>
            <width>640</width>
            <height>480</height>
          </image>
          <clip>
            <near>0.05</near>
            <far>8.0</far>
          </clip>
          <distortion>
            <k1>-1.25</k1>
            <k2>0.12</k2>
            <k3>0.0</k3>
            <p1>-0.00028</p1>
            <p2>-0.00005</p2>
            <center>0.5 0.5</center>
          </distortion>
        </camera>

        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>0</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>camera_depth_optical_frame</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>-0.25</distortion_k1>
          <distortion_k2>0.12</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>-0.00028</distortion_t1>
          <distortion_t2>-0.00005</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
          <pointCloudCutoffMax>4.0</pointCloudCutoffMax>
        </plugin>
      </sensor>
    </gazebo>
  </xacro:macro>
</robot>

What's more, there is no image topic in Window->Topic Visualization in gazebo.

Could you please provide some advice? Thanks a lot!