bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.

https://bit-bots.de

MIT License

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Camera FOV in simulation differs from real world. #497

Open jgueldenstein opened 4 months ago

jgueldenstein commented 4 months ago

Summary

The FOV defined in the proto file: https://github.com/bit-bots/bitbots_main/blob/22622a780bca744a302a4546160e4e9ac9f91733/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto#L74 does not match the real robot's FOV.

If we want the FOV to match the real robot we should set it to 1.517 instead.

jgueldenstein commented 4 months ago

This can be calculated by looking at the focal length defined in https://github.com/bit-bots/bitbots_main/blob/22622a780bca744a302a4546160e4e9ac9f91733/bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml#L24

$2 atan(2048/(21080.60229)) = 1.517...$