I was trying to set up a simulation of a robot with a wide-angle camera
lens. Here's a world-file fragment (some lines omitted):
The <hfov> directive is ignored. This was true in Gazebo 0.3.0, and
many CVS releases between 0.3.0 and 0.4.0, which is what I'm using now
(not sure about latest CVS).
While parsing the file, gazebo to recognises the hfov directive and
Camera.cc gets to the gluPerspective(this->hfov * 180 / M_PI, ...)
line, but gluPerspective(...) is called with the wrong argument (the
default, in fact).
Further investigation reveals that SonyVID30::Update(...) is
repeatedly calling Camera::SetFOV(60 degrees), according to
Should Gazebo issue a warning if you request a <hfov> that is outside
the range allowed by zoomLimits? I realise that this opens wide the
door to checking for sensible option values. Is that a door you want
to open? I'm wondering whether anyone else had problems like this.
Ben Pearre http://hebb.mit.edu/~ben PGP: CFDA6CDA
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