Re: [PlayerStage-Gazebo] Stereo Camera depth map

[Nate K. <nk...@us...>]

Hi Dan,

Could you get the latest SVN version of gazebo. A few improvements to
the stereo code have been made.

Gazebo does not output a disparity image. Instead it uses the Opengl
Z-buffer to generate a depth map. I have changed the names of the
image arrays in libgazebo to reflect this.

The best way to use the depth information is to access the depth
buffer directly, which is an array of float values that correspond to
the distance from the camera to an object.

-nate

On Thu, Jul 17, 2008 at 3:39 PM, Daniel Carr <dan...@us...> wrote:
> Hi All,
>
> I have been trying to use the examples/libgazebo/stereo/stereo.cc to generate depth maps using the stereocamera.world file.  I start up gazebo and then, using another terminal, start stereo with ./stereo and let it run for a bit (such that it will generate anywhere from 10-a few hundred framexxxx.pgm's).  I have been running gazebo both through a SSH X terminal and directly on the machine with gazebo (using SVN from the last couple of days) and it produces either blank .pgm's (all 255) or somewhat 'random' black-and-white shapes that do not appear to be any of the viewpoints available through gazebo (let alone any sort of depth map for a square or plane/horizon).
>
> Is this feature currently implemented?  Do I need to be set to View|Stereo(1) in gazebo before capturing (not that it has made any difference)?
>
> I have attempted to add debug code by printing the disparity data after it's written to the file, and all that appears is 1.0's (usually, unless I have the random black and white shapes in which case it is 0.0's or 1.0's).  The machine that runs gazebo is a relatively new Dell with an NVidia 7900GS using proprietary drivers and a fairly new processor.  It can easily run gazebo at over 30 fps when displaying and moving through an empty scene.
>
> If you need any more information, please don't hesitate to ask.
>
> Thank you,
> Dan
>
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