Hi all, I'm using Gazebo 0.8, and I would like to be able to compute what a camera is looking at (assuming a completely flat ground plane). It's great to be able to get images from a simulated camera, but I actually need to know the coordinates of where the camera's field of view intersects the ground plane. Assuming I can get the 6 DOF pose of the camera and the size of the field of view, this should just be relatively straightforward trigonometry.
Problem 1: The pose of the camera does not seem to be exposed through the libgazebo interface. Here's what I think I need to do in order to get to it: 1. Add a Pose variable to the CameraData class in gazebo.h . 2. In Generic_Camera.cc PutCameraData(), get the pose of the camera using myParent->GetWorldPose() and save that pose to the CameraData Pose variable. I think this should allow me to obtain the global 6 DOF camera pose. Does this seem reasonable / am I missing anything / is there an easier way? Problem 2: How do I figure out what the width and height of the image are in terms of the real world (not pixels)? Is this some function of nearClip, farClip, and horizontal field of view? Thanks for your help! Sincerely, Kristen -- Kristen N. Stubbs Ph.D. Candidate Robotics Institute Carnegie Mellon University http://www.cs.cmu.edu/~kristen ------------------------------------------------------------------------- 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
