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SyrianSpock / realsense_gazebo_plugin

Intel RealSense R200 Gazebo ROS plugin and model
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The D matrix is empty #21

Closed abylikhsanov closed 6 years ago

abylikhsanov commented 6 years ago

Getting error: Cannot call rectifyPoint when distortion is unknown. This is the camera_info topic echo, which shows that the D matrix is empty: distortion_model: ''

D: []
K: [463.8890075683594, 0.0, 320.0, 0.0, 463.8890075683594, 240.0, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [463.8890075683594, 0.0, 320.0, 0.0, 0.0, 463.8890075683594, 240.0, 0.0, 0.0, 0.0, 1.0, 0.0]
SyrianSpock commented 6 years ago

Indeed, there is no camera distortion applied to the simulated sensor. So there is no need to rectify the images published here.

If you would like to add distortion to the simulated model, you can modify the sensor definition file, the Gazebo docs can help you find out which parameters to set. Don't forget to adapt the CameraInfo publisher.

q8wwe commented 4 years ago

how can we add distortion , I need it for depthimage_to_laserscan?