Panoramic Renderer

Rendering engine that simulate camera rotation provided a panoramic map of the scene in equirectangular format (such as this one for example).

Run

First set the absolute paths in panorama.conf:

roscd esim_ros
gedit cfg/panorama.conf

Run the simulator as follows (do not forget to set the absolute paths in panorama.conf):

roslaunch esim_ros esim.launch config:=cfg/panorama.conf

To visualize the output of the simulator, you can open rviz (from a new terminal) as follows:

roscd esim_visualization
rviz -d cfg/esim.rviz

You can also open rqt for more visualizations, as follows:

roscd esim_visualization
rqt --perspective-file cfg/esim.perspective