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Camera intrinsics are not initialized for Gazebo (#2338)

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* Camera intrinsics are not initialized for Gazebo

* Also update fps in MT9F002 mode
This commit is contained in:
Christophe De Wagter
2018-10-04 19:30:13 +02:00
committed by GitHub
parent bfd08a8b58
commit 95cf154618
1 changed files with 11 additions and 0 deletions
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sw/simulator/nps/nps_fdm_gazebo.cpp
+11
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@@ -693,6 +693,10 @@ static void init_gazebo_video(void)
cameras[i]->sensor_size.h = cam->ImageHeight();
cameras[i]->crop.w = cam->ImageWidth();
cameras[i]->crop.h = cam->ImageHeight();
cameras[i]->camera_intrinsics.focal_x = cameras[i]->output_size.w/2.0f;
cameras[i]->camera_intrinsics.center_x = cameras[i]->output_size.w/2.0f;
cameras[i]->camera_intrinsics.focal_y = cameras[i]->output_size.h/2.0f;
cameras[i]->camera_intrinsics.center_y = cameras[i]->output_size.h/2.0f;
#if NPS_SIMULATE_MT9F002
// See boards/bebop/mt9f002.c
if(cam->Name() == "front_camera") {
@@ -702,6 +706,13 @@ static void init_gazebo_video(void)
cameras[i]->sensor_size.h = MT9F002_OUTPUT_HEIGHT;
cameras[i]->crop.w = MT9F002_OUTPUT_WIDTH;
cameras[i]->crop.h = MT9F002_OUTPUT_HEIGHT;
cameras[i]->camera_intrinsics = {
.focal_x = MT9F002_FOCAL_X,
.focal_y = MT9F002_FOCAL_Y,
.center_x = MT9F002_CENTER_X,
.center_y = MT9F002_CENTER_Y,
.Dhane_k = MT9F002_DHANE_K
};
}
#endif
cameras[i]->fps = cam->UpdateRate();