Hi everyone, I have a CSI camera sitting in front of my robot. It's resolution is 640x480 with 160 degree HOV. I wanted to use the same camera in gazebo environment so I got all the camera properties from the hardware and setup a csi camera in gazebo world. However, the object from this camera looked extremely far comparing to the real world scenario. I was then tuning the parameters and realized that if I decrease the horizontal_hov values, the object in the camera frame would look a lot closer but the horizontal field of view decreases accordingly. Below is my camera setting in gazebo. Am I missing some camera properties? Also, I got the distortion values from the real camera, but by adding those numbers in gazebo didn't show any barrel effect like I saw in the hardware camera.
<gazebo reference="camera_csi_front">
<!-- <material>Gazebo/Green</material> -->
<sensor type="camera" name="csi_front">
<pose>0 0 0 0 0 0</pose>
<update_rate>60.0</update_rate>
<camera name="front">
<horizontal_fov>2.79253</horizontal_fov> <!--160 degrees -->
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>car/csi_front</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_csi_front</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>-0.264598808</distortionK1>
<distortionK2>0.0156281135</distortionK2>
<distortionK3>0.0822019378</distortionK3>
<distortionT1>0.0000652954</distortionT1>
<distortionT2>0.0053984313</distortionT2>
</plugin>
</sensor>
</gazebo>
Any help is appreciated! I was trying to upload the images but unfortunately seems like the website wasn't responding to my upload.
