Kevin LeBlanc wrote: > > In Gazebo 0.7.0 (the latest release), it appears that setting the > horizontal field of view of a camera using the <hfov></hfov> tags actually > sets the VERTICAL field of view. I assume that Gazebo then sets the > horizontal field of view using the image size (and the assumption that the > camera pixels are squares). > > Has anyone else noticed this, or am I mistaken? Just thought someone > might want to know. >
I also noticed this problem. If you want the hfov parameter to really set the horizontal field of view, you have to replace the gluPerspective command in Camera::render (file Camera.cc) by the following lines: double ratio = (double)this->imageWidth / this->imageHeight; double vfov = 2.0 * atan(tan(this->hfov / 2.0) / ratio) * 180 / M_PI; gluPerspective(vfov, ratio, this->nearClip, this->farClip); I think this will be fixed in the next version as the rendering process has been completely changed. Regards, Renaud Barate -- View this message in context: http://www.nabble.com/Gazebo-camera-hfov-vs-vfov-tf4552857.html#a13022692 Sent from the playerstage-gazebo mailing list archive at Nabble.com. ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
