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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 camera image Right camera image 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

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Last updated $Date: 2004/12/21 01:49:15 $

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