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osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Help required with modelling Realsense T265 tracking camera #597

Open mihirk284 opened 3 years ago

mihirk284 commented 3 years ago

I am trying to submit a model of our flying robot for Team CERBERUS. We have a Realsense T265 tracking camera onboard the robot. Our robot will have only the following sensors T265, IMU, 4 x ( single ray ToF sensors). This tracking camera is also the sensor that is the source of onboard odometry for the robot.

I am not able to find the best way to model the fisheye lens of the camera. Can someone please guide me on how I can model the sensor? Also since this sensor will be an onboard source of Odometry of the robot, will it be okay to enable ground truth as a default for this robot?

angelacmaio commented 3 years ago

Please submit the model with only the raw sensor outputs (not fused odometry) published so developers can add their own SLAM solutions to the robot. Ground truth can always be enabled during local testing by passing enableGroundTruth:=true to the ign launch command, but ground truth will not be available when the robot is used in competition.

@nkoenig do you have any suggestions for fisheye lens modeling?

nkoenig commented 3 years ago

What is the field of view of the fish eye lens?

mihirk284 commented 3 years ago

Hi @nkoenig The FoV as mentioned on their website is:-

The camera includes two OV9282 imagers with fisheye lenses for a combined, close to hemispherical 163±5° field of view for robust tracking even with fast motion.

The product link can be found here is here.

edit :- The datasheet mentions the FoV to be 173° degrees. (datasheet Section 3.2)

nkoenig commented 3 years ago

@iche033 , have we ported wide angle camera sensors to Ignition?

iche033 commented 3 years ago

no, fisheye / wide angle cameras are not supported in ignition yet.

bfotheri commented 3 years ago

Bump, are there are any plans for porting the wide angle lens plugin? Or doing something similar to support wide angle lenses?