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Add gimbal gazebo plugin, applying in task1 to stabilize the camera. #82

Open tongtybj opened 8 years ago

tongtybj commented 8 years ago
tongtybj commented 8 years ago

This PR is about the gimbal plugin in gazebo, which is separated from commit in #65, and was also discussed in #66

In #66 :

This is nice comparison, please describe the velocity and tilting angle of this experiment, and also check behavior of your drone with same velocity.

I redid the same experiment as shown in the gif gimbal_short

The max tilting angle is about 30degree(0.53rad) and velocity is about 4m/s(14.4km/h).

tongtybj commented 8 years ago

Is there any review or comment about this PR?

k-okada commented 8 years ago

https://github.com/start-jsk/jsk_mbzirc/pull/85#issuecomment-225639029

tongtybj commented 8 years ago

both are necessary.

k-okada commented 8 years ago

ok, so you now have 160 degree of camera and the biggest tilting angle is 30 degree, so you need 160 + 30 + 30 = 220 degree angles, from my little knowledge, we had 210 degree camera at lab http://www.universekk.com/product/fisheye-rends.html http://xs-optical.manufacturer.globalsources.com/si/6008849928141/pdtl/Megapixel-CCTV/1128257360/Fisheye-Lens.htm

And google knows more wider lens. http://www.entapano.com/jp/l/

◉ Kei Okada

On Tue, Jun 14, 2016 at 6:03 AM, 趙 漠居 notifications@github.com wrote:

both are necessary.

-

When we give a big acceleration command to a uav for horizontal movement , it will tilt with a large angle like 30 degree. With this tilt angle, we will lost the view of the arena even we have fisheye FOV. The gif in #66 https://github.com/start-jsk/jsk_mbzirc/issues/66 "Camera(FOV=160) without gimbal while moving rapidly" is a good example, which indicates that we will lost the truck sometime.

On the other hand, fisheye is also necessary, because we need very big FOV in the finally landing porces, othewise we can not capture the whole feature of heliport(I mean the "X"). Please check video in https://drive.google.com/open?id=0BwphddqBjVJ_RnYzSjh5WHJKMWc.

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tongtybj commented 8 years ago

@k-okada Wonderful knowledge I never know before... So I will do experiment about gimbal + fisheye vs superfisheye.

And, when we use superfisheye like 220 degree, should be the resolution of camera big? like 5MP?

k-okada commented 8 years ago

And, when we use superfisheye like 220 degree, should be the resolution of camera big? like 5MP?

this is exactly what we want to test with in simulator.

◉ Kei Okada

On Tue, Jun 14, 2016 at 10:14 AM, 趙 漠居 notifications@github.com wrote:

@k-okada https://github.com/k-okada Wonderful knowledge I never know before... So I will do experiment about gimbal + fisheye vs superfisheye.

And, when we use superfisheye like 220 degree, should be the resolution of camera big? like 5MP?

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tongtybj commented 8 years ago

@iKrishneel

Could you please change the FOV to 220 degree, and see the performance of your visual detection about the heliport.

cretaceous-creature commented 8 years ago

seems we cant change the hfov above 180, error will happen.. [image: 埋め込み画像 1]

2016-06-14 10:28 GMT+09:00 趙 漠居 notifications@github.com:

@iKrishneel https://github.com/iKrishneel

Could you please change the FOV to 220 degree, and see the performance of your visual detection about the heliport.

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tongtybj commented 8 years ago

Yeah, I know that bug... And I can not see your image...

cretaceous-creature commented 8 years ago

Exception [Camera.cc:221] Camera horizontal field of view invalid

2016-06-14 11:35 GMT+09:00 趙 漠居 notifications@github.com:

Yeah, I know that bug... And I can not see your image...

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tongtybj commented 8 years ago

We can make a patch and send PR to gazebo_plugins

iKrishneel commented 8 years ago

@tongtybj perhaps the detection should work but incase if it does not work well, we can rectify the frames I think.