Fish eye camera plugin for ROS

[sychaichangkun]

Hi, I want to simulate fish eye camera in Gazebo and publish image via ROS.
I find a tutorial to create fish eye cam in Gazebo , but there seems no ROS plugin.

How can I write a plugin which converts Gazebo messages to ROS?
I need your help. Thanks.

[kev-the-dev]

Have you tried adding the gazebo_ros_camera plugin to your sdf like in this tutorial?

[sychaichangkun]

Yes, I tried but gazebo_ros_camera doesn't support fish eye, when I changed the FOV to more than 180 degrees, it failed.

[kev-the-dev]

What do you mean by "it failed"? Just ran gazebo with this sensor config like in the tutorial and it worked as expected:

<sensor name="camera" type="wideanglecamera">
  <camera>
    <horizontal_fov>6.283</horizontal_fov>
    <image>
      <width>320</width>
      <height>240</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>
    <always_on>1</always_on>
    <update_rate>30</update_rate>
  </camera>
  <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
    <cameraName>camera1</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>camera_link</frameName>
    <hackBaseline>0.07</hackBaseline>
  </plugin>
</sensor>

[sychaichangkun]

Oh, I made a mistake combing libgazebo_ros_camera.so and sensor model.
Thank you very much ! @ironmig

[kev-the-dev]

Glad you got it working!

[carolina68]

Hi! I am now also working on the simulation of fish-eye cameras in Gazebo. After follwing the tutorial mentioned by you(no modification by myself), there alwys exists an error in simulation when I increse the FOV to lager than 180 degrees:
gzserver: /build/ogre-1.9-mqY1wq/ogre-1.9-1.9.0+dfsg1/OgreMain/include/OgreAxisAlignedBox.h:252: void Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z <= max.z) && "The minimum corner of the box must be less than or equal to maximum corner"' failed.

Do you have any idea what the problem may be?
Thanks in advance.

[chapulina]

@carolina68 , that could be related to this open issue: https://bitbucket.org/osrf/gazebo/issues/2558/