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minosworld / minos

MINOS: Multimodal Indoor Simulator
MIT License
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Camera's Orientation parameters ignored #122

Open antonilo opened 5 years ago

antonilo commented 5 years ago

Orientation parameters for the camera in the sensors.yml file do not change the camera settings as expected. In my setup, I have a stereo system. I would like to change the orientation (and not only the baseline) between the two cameras. This is an example of the sensors.yml file I am using.

This is the output of the simulator when the orientation is set to zero for both cameras: frame_00000 right_frame_00000

This is the output when the orientation is any other number, positive or negative. (Background is randomized between 2 different runs). As it is possible to see, there is not any relative rotation between the two cameras. frame_00000 right_frame_00000

It would be nice to set a relative orientation between the two cameras so that we can have a non rectified stereo pair. Thanks in advance for your answer!

angelxuanchang commented 5 years ago

Thanks for reporting this issue. This should be fixed in the v0.7.x branch of the code. Please try it out and let us know if you have other issues.