Increasing horizontal_hov in gazebo will make the object looks very "far" [closed]

asked 2021-10-08 00:58:55 -0600

ttttthomas gravatar image

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>
  <camera name="front">
    <horizontal_fov>2.79253</horizontal_fov>  <!--160 degrees -->
  <plugin name="camera_controller" filename="">


Any help is appreciated! I was trying to upload the images but unfortunately I don't have enough point to do so.

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Closed for the following reason Gazebo Question: The Gazebo community prefers to answer questions at: by gvdhoorn
close date 2021-10-08 02:08:57.406643


Even though this is a ROS plugin for Gazebo, I feel that you are asking about a specific behaviour of Gazebo you've observed. That would make this a question about Gazebo, which should be asked over at

If/when you post there, please post a comment here with a link to your new question, so we keep things connected.

gvdhoorn gravatar image gvdhoorn  ( 2021-10-08 02:10:06 -0600 )edit

thanks, yeah after I posted the question here and move on searching for a possible answer, I found someone asked gazebo question here and got moved to So I have already created the same post there. Then link is here

ttttthomas gravatar image ttttthomas  ( 2021-10-08 02:14:56 -0600 )edit