From: Kevin L. <kev...@aa...> - 2007-10-02 04:48:18
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In Gazebo 0.7.0 (the latest release), it appears that setting the horizontal field of view of a camera using the <hfov></hfov> tags actually sets the VERTICAL field of view. I assume that Gazebo then sets the horizontal field of view using the image size (and the assumption that the camera pixels are squares). Has anyone else noticed this, or am I mistaken? Just thought someone might want to know. Regards, Kevin LeBlanc |
From: Renaud B. <ren...@en...> - 2007-10-03 16:40:41
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Kevin LeBlanc wrote: > > In Gazebo 0.7.0 (the latest release), it appears that setting the > horizontal field of view of a camera using the <hfov></hfov> tags actually > sets the VERTICAL field of view. I assume that Gazebo then sets the > horizontal field of view using the image size (and the assumption that the > camera pixels are squares). > > Has anyone else noticed this, or am I mistaken? Just thought someone > might want to know. > I also noticed this problem. If you want the hfov parameter to really set the horizontal field of view, you have to replace the gluPerspective command in Camera::render (file Camera.cc) by the following lines: double ratio = (double)this->imageWidth / this->imageHeight; double vfov = 2.0 * atan(tan(this->hfov / 2.0) / ratio) * 180 / M_PI; gluPerspective(vfov, ratio, this->nearClip, this->farClip); I think this will be fixed in the next version as the rendering process has been completely changed. Regards, Renaud Barate -- View this message in context: http://www.nabble.com/Gazebo-camera-hfov-vs-vfov-tf4552857.html#a13022692 Sent from the playerstage-gazebo mailing list archive at Nabble.com. |