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

gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true

enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true

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>

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Authors

Andrew Howard

Last updated 12 September 2005 21:38:45