I have some questions about how to use "libgazebo_ros_multicamera.so" plugin.
Originally posted by luxiaojun on Gazebo Answers with karma: 13 on 2018-05-13
Post score: 0
When you're not sure what the tags do, it's best you check out the plugin's source code.
In this case it's here:
http://docs.ros.org/api/gazebo_plugins/html/gazebo__ros__multicamera_8cpp_source.html
But the actual reading of the sdf tags happens here: http://docs.ros.org/fuerte/api/gazebo_plugins/html/gazebo__ros__camera__utils_8cpp_source.html
From what I found, the hack_baseline is only used in one spot for the camera projection matrix. I'm not entirely sure what it's for.
The tags you listed in your question should not conflict with one another. The tags in the plugin tag apply to the plugin only and do not affect the camera itself in any way.
Originally posted by Raskkii with karma: 376 on 2018-05-14
This answer was ACCEPTED on the original site
Post score: 0
Comment by luxiaojun on 2018-05-15:
Raskkii: thank you for your reply. what do you mean "one spot for the camera projection matrix" ? Why a plugin needs parameters? As I am new to this, thank you for your reply.
Comment by Raskkii on 2018-05-15:
So the plugin calculates a camera projection matrix (i'm not sure what it is, i just read it from the source code) and one of the values within the matrix uses the hack_baseline value. From what I can see in the source code, it seems like the distortion parameters are used for camera info only so you might aswell leave those values to 0 or just remove them entirely.
Comment by robinshaun on 2020-03-12:
hackbaseline is the length of baseline, its an important parameter for stereo camera. see http://docs.ros.org/melodic/api/sensor_msgs/html/msg/CameraInfo.html