Hello: > 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.
This sounds perfectly fine. > 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? Here is how to calculate the height and width of the far clip plane: height_far = 2 * tan(fov / 2) * farDist width_far = height_far * ratio -nate ------------------------------------------------------------------------- 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
