Hi,
I'm currently working on creating an omnidirectional camera for use in
Gazebo 0.7; however I'm having a little bit of trouble setting the
camera rotation. The way I'm acquiring an omnidirectional image, is to
make 4 passes with a 90 degree field of view, these will later be cube
mapped on to a sphere to simulate the distortion of a real
omnidirectional camera (one which uses a hyperbolic mirror). However the
camera does not rotate as I would expect, the following code is used for
the image acquisition:
for(j = 0; j < 4; j++) {
dst = data->image + len * j;
this->camera->Update();
src = this->camera->GetImageData() + (height - 1) * len;
for (i = 0; i < height; i++, src -= len, dst += len) {
memcpy(dst, src, len);
dst += len * 3;
}
pose = this->camera->GetPose();
pose.rot.z += M_PI / 2;
this->camera->SetPose(pose);
}
Which produces output like this:
http://www.mikeasoft.com/~mike/omnicam.png
As you can see I'm attempting to rotate the camera by PI/2 for each
section of the image, however the resulting images are clearly not
rotated by this amount. When I turn the whole robot about its Z axis the
different sections of the image rotate at different speeds, the first
(front) image rotates as normal, but all the others are incorrect.
Can anyone give me a clue as to what I might be doing wrong?
Cheers,
Mike.
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