Faulty camera image out of gazebo [closed]

asked 2015-08-20 05:47:41 -0600

Hi,

I set up a simple launch file which loads an empty world (sun and groundplane) and spawns three objects (container, moveable platform, camera (libgazebo_ros_camera.so)). This setup is correctly displayed in gazebo (5.0.1), but the image of the camera is faulty. The camera image showes everything correctly if a pixel is located over the horizon, but if a pixel is located onto the groundplane (below the horizon) it is only shown as groundplane. The only reference to the objects is the shadow of these, which also appears correctly on the groundplane on the camera image.

My camera-setup is as follows:

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera"> <xacro:property name="height" value="10.0"/> <xacro:property name="PI" value="3.14159265359"/>

<link name="world" />

<joint name="camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz="0 0 ${height}" rpy="0 ${PI / 2.0} 0"/>
    <parent link="world"/>
    <child link="camera_link"/>
</joint>

<link name="camera_link">
    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.05 0.05 0.05"/>
        </geometry>
    </collision>

    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.05 0.05 0.05"/>
        </geometry>
        <material name="red"/>
    </visual>

    <inertial>
        <mass value="1e-5" />
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
</link>

<gazebo reference="camera_link">
    <sensor type="camera" name="camera1" visualize="true">
        <update_rate>25.0</update_rate>
        <camera name="head">
            <horizontal_fov>1.57059633</horizontal_fov>
            <image>
                <width>640</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>
            <clip>
                <near>0.1</near>
                <far>300</far>
            </clip>
            <noise>
                <type>gaussian</type>
                <mean>0.0</mean>
                <stddev>0.007</stddev>
            </noise>
        </camera>
        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
            <alwaysOn>true</alwaysOn>
            <updateRate>0.0</updateRate>
            <cameraName>camera</cameraName>
            <imageTopicName>image_raw</imageTopicName>
            <cameraInfoTopicName>camera_info</cameraInfoTopicName>
            <frameName>camera_link</frameName>
            <hackBaseline>0.0</hackBaseline>
            <distortionK1>0.0</distortionK1>
            <distortionK2>0.0</distortionK2>
            <distortionK3>0.0</distortionK3>
            <distortionT1>0.0</distortionT1>
            <distortionT2>0.0</distortionT2>
        </plugin>
    </sensor>
</gazebo>

</robot>

Is there any solution to this problem?

Many greetings Michael

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: http://answers.gazebosim.org by tfoote
close date 2015-08-28 03:18:07.660913