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Stereo Head
[Models]

The StereoHead model simulates a generic stereo camera head. It generates the left/right images pairs and the corresponding disparity images.

left_image.gif

Left camera image

right_image.gif

Right camera image

left_depth.gif

Left disparity image

A few points to note:

  • Disparity is returned as a floating point image, with each pixel giving the disparity (in pixels) in the rectified images.

  • The disparity calculation includes camera occlusion effects (points must be visible by both cameras), so disparity images may be incomplete.

  • The disparity calculation does not consider surface textures (any non-occluded surface will generate a depth value), so disparity images will be more complete that their real-world counterparts. This may be changed in the future.

  • There is no noise model for disparity calculations, although users can expect some artifacts from the OpenGL rendering process.

libgazebo interfaces
This model supports the stereo interface.

Player drivers
Left/Right images and disparity maps are available through the gz_stereo driver.

Attributes
The following attributes are supported.

  • id (string)
    • The model ID string (used by libgazebo to identify models).
    • Default: (empty)
  • xyz (float tuple, meters)
    • Model position (x, y, z, in meters).
    • Default: 0 0 0
  • rpy (float tuple, degrees)
    • Model orientation in Euler angles: roll, pitch, yaw.
    • Default: 0 0 0

  • updateRate (float, Hz)
    • Frame rate.
    • Default: 10

  • imageSize (float tuple, pixel size)
    • Image width and height, in pixels.
    • Default: 320 240

  • hfov (float, degrees)
    • Horizontal field of view for a perspective lens.
    • Default: 60

  • baseline (float, meters)
    • Distance between camera axes.
    • Default: 0.12

  • lensDiam (float, meters)
    • Lens diameter; purely for asthetic purposes.
    • Default: 0.035

  • nearClip, farClip (float, meters)
    • Near and far clipping planes.
    • Default: 0.5 100.0

  • renderMethod (string)
    • OpenGL rendering method: SGIX, GLX, XLIB, or AUTO.
    • See OpenGL Support
    • Default: AUTO

Bodies
The following bodies are created by this model.

  • canonical
    • The canonical (default) body.

Example
<model:StereoHead>
  <id>stereo0</id>
  <xyz>0 0 0.30</xyz>
  <rpy>0 0 0</rpy>
  <imageSize>320 240</imageSize>
  <baseline>0.15</baseline>
</model:StereoHead>

Views

Authors
Andrew Howard


Last updated $Date: 2004/12/21 01:49:15 $
Generated on Sun May 22 18:39:09 2005 for Gazebo by doxygen 1.4.2