Stereo camera description
Hello,
I'm trying to use my two cameras to create a stereovision camera. I found this stereo camera description. Though, I can't figure out how to use it. Here's my cameras definition in the urdf file.
<!--left camera-->
<xacro:property name="cameraSize" value="0.05"/>
<xacro:property name="cameraMass" value="0.1"/>
<link name="left_camera">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<mass value="${cameraMass}" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<box_inertia m="${cameraMass}" x="${cameraSize}" y="${cameraSize}" z="${cameraSize}" />
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<joint name="left_camera_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="${0.1+(sphere_axle/2)} 0.15 1.1" rpy="0 0 0"/>
<parent link="chassis"/>
<child link="left_camera"/>
</joint>
<gazebo reference="left_camera">
<sensor type="camera" name="left_camera">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>mitu/left_camera</cameraName>
<imageTopicName>left_camera_image_raw</imageTopicName>
<cameraInfoTopicName>left_camera_info</cameraInfoTopicName>
<frameName>left_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<!--right camera-->
<link name="right_camera">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
</geometry>
<material name="green"/>
</visual>
<inertial>
<mass value="${cameraMass}" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<box_inertia m="${cameraMass}" x="${cameraSize}" y="${cameraSize}" z="${cameraSize}" />
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<joint name="right_camera_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="${0.1+(sphere_axle/2)} -0.15 1.1" rpy="0 0 0"/>
<parent link="chassis"/>
<child link="right_camera"/>
</joint>
<gazebo reference="right_camera">
<sensor type="camera" name="right_camera">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- 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]. -->
<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>mitu/right_camera</cameraName>
<imageTopicName>right_camera_image_raw</imageTopicName>
<cameraInfoTopicName>right_camera_info</cameraInfoTopicName>
<frameName>right_camera</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
Any one can help me please ? I don't think it's something hard to do, it's just that Im a ROS "newbie".
Thanks
Asked by hachbani on 2019-06-19 08:25:40 UTC
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