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How to adjust orientation of camera

asked 2013-11-14 07:41:00 -0500

rnunziata gravatar image

Why is the projection not on the XY plain?

image description

<sensor name='camera1' type='depth'>
  <visualize>1</visualize>
  <pose>-0.1 0 0.2 0 0 0</pose>
  <camera name='head'>
    <horizontal_fov>1.39626</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <save enabled='0'>
      <path>/tmp</path>
    </save>
    <depth_camera>
      <output>depthImage</output>
    </depth_camera>
    <noise>
      <type>gaussian</type>
      <mean>0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin name='plugin_1' filename='libgazebo_ros_depth_camera.so'>
    <alwaysOn>true</alwaysOn>
    <updateRate>30.0</updateRate>
    <imageTopicName>image_raw</imageTopicName>
    <pointCloudTopicName>pointCloud</pointCloudTopicName>
    <depthImageTopicName>pointlCloudImage</depthImageTopicName>
    <depthImageCameraInfoTopicName>camera1_info</depthImageCameraInfoTopicName>
    <colorImageTopic>/camera/rgb/image_color</colorImageTopic>
    <depthMapTopic>/camera/depth_registered/image_rect</depthMapTopic>
    <cameraName>camera1</cameraName>
    <frameName>camera_frame</frameName>
    <pointCloudCutoff>0.001</pointCloudCutoff>
  </plugin>
</sensor>
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answered 2013-11-14 16:50:39 -0500

Thomas gravatar image

This would be better at http://answers.gazebosim.org/questions/ but still...

This is because you use "camera_frame" and not "camera_frame_optical". See the standard frame orientation in REP-103.

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FYI -- I changed my references to camera_frame_optical and it do not make a difference. I am getting close to a solution if nothing else I will translate in code.

rnunziata gravatar image rnunziata  ( 2013-11-19 11:51:12 -0500 )edit

I suggest you use `rosrun tf view_frames` to see the relative orientation of both frames. Maybe this is a re-orientation issue.

Thomas gravatar image Thomas  ( 2013-11-19 12:53:41 -0500 )edit

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Asked: 2013-11-14 07:41:00 -0500

Seen: 318 times

Last updated: Nov 14 '13