Skip to content

Commit

Permalink
Add support for wide angle camera in sensors system (#1215)
Browse files Browse the repository at this point in the history 
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Co-authored-by: William Lew <WilliamMilesLew@gmail.com>
Co-authored-by: Louise Poubel <louise@openrobotics.org>
  • Loading branch information
@iche033 @scpeters
@WilliamLewww @chapulina
4 people authored Mar 14, 2022
1 parent fc9cadd commit b9206e2
Show file tree
Hide file tree
Showing 11 changed files with 686 additions and 2 deletions.
1 change: 1 addition & 0 deletions CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ ign_find_package(ignition-sensors7 REQUIRED
depth_camera
rgbd_camera
thermal_camera
wide_angle_camera
)
set(IGN_SENSORS_VER ${ignition-sensors7_VERSION_MAJOR})

Expand Down
1 change: 0 additions & 1 deletion examples/worlds/sensors_demo.sdf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -518,7 +518,6 @@
</link>
</model>


<include>
<pose>0 1 3 0.0 0.0 1.57</pose>
<uri>
Expand Down
355 changes: 355 additions & 0 deletions examples/worlds/wide_angle_camera.sdf
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,355 @@
<?xml version="1.0" ?>
<!--
Load a world with wide angle camera
-->
<sdf version="1.6">
<world name="wide_angle_camera_sensor">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="ignition-gazebo-physics-system"
name="ignition::gazebo::systems::Physics">
</plugin>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre</render_engine>
</plugin>
<plugin
filename="ignition-gazebo-user-commands-system"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin
filename="ignition-gazebo-scene-broadcaster-system"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>


<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<ignition-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="MarkerManager" name="Marker manager">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="SelectEntities" name="Select Entities">
<ignition-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>
<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<ignition-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<ignition-gui>
<anchors target="Select entities">
<line own="right" target="right"/>
<line own="top" target="top"/>
</anchors>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</ignition-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<ignition-gui>
<property type="string" key="state">docked</property>
</ignition-gui>
</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<ignition-gui>
<title>Wide angle camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
</ignition-gui>
<topic>wide_angle_camera</topic>
<topic_picker>false</topic_picker>
</plugin>

</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<!--plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane-->
<box>
<size>20 20 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<!--plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane-->
<box>
<size>20 20 0.1</size>
</box>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="box">
<pose>0 -1 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="wide_angle_camera">
<static>true</static>
<pose>1 1 0.5 0 0.0 3.14</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="wideangle_camera" type="wideanglecamera">
<camera>
<horizontal_fov>3.14</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<!-- A new section named `lens`. -->
<lens>
<!-- type element is mandatory -->
<type>custom</type>
<!-- manually defined mapping function r = c1*f*fun(theta/c2 + c3) -->
<!-- More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function -->
<custom_function>
<c1>1.05</c1>
<!-- linear scaling -->
<c2>4</c2>
<!-- angle scaling -->
<f>1.0</f>
<!-- one more scaling parameter -->
<fun>tan</fun>
<!-- one of sin,tan,id -->
</custom_function>
<!-- if it is set to `true` your horizontal FOV will ramain as defined -->
<!-- othervise it depends on lens type and custom function, if there is one -->
<scale_to_hfov>true</scale_to_hfov>
<!-- clip everything that is outside of this angle -->
<cutoff_angle>3.1415</cutoff_angle>
<!-- resolution of the cubemap texture, the highter it is - the sharper is your image -->
<env_texture_size>512</env_texture_size>
</lens>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<topic>wide_angle_camera</topic>
</sensor>
</link>
</model>

<include>
<pose>0 1 3 0.0 0.0 1.57</pose>
<uri>
https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
</uri>
</include>

</world>
</sdf>
Loading

0 comments on commit b9206e2

Please sign in to comment.