Using RGB-D camera instead of 3D Lidar

[ta-jetson]

Hey @MihirDharmadhikari @engcang @ShreyanshDarshan,
I want to use a front facing depth camera instead of a 3D Lidar. I want to evaluate the working of the algorithm with limited FoV and range.

I tried to follow @engcang
changes in
#4 (comment)

I changed the SensorParams in global_planner_config.yaml and mbplanner_config.yaml as:

type: kCamera
max_range: 6.0
center_offset: [0.0, 0.0, 0.0]
rotations: [0.0, 0.0, 0.0]
fov: [rad(pi/2), rad(pi/3)]
resolution: [rad(5.0pi/180), rad(3.0pi/180)]

The simulation runs as usual and there is no change in FoV or range of the pointcloud

Please let me know if I missed something?
I am actively working on this problem, so any suggestion would be helpful

Thank you,

[MihirDharmadhikari]

Hi @ta-jetson ,

The parameter that you have changed is used only for volumetric gain calculation. You also need to provide a point cloud from a depth camera to the planner which is set in this parameter. Currently, the M100 does not integrate a depth camera. However, the underlying rotorS simulator has a model of a depth camera which you can add on the M100 similar to this.

Let me know if this helps.

Best regards,
Mihir