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Camera FOV in simulation differs from real world.

Open jgueldenstein opened this issue 1 year ago • 1 comments

Summary

The FOV defined in the proto file: https://github.com/bit-bots/bitbots_main/blob/22622a780bca744a302a4546160e4e9ac9f91733/bitbots_wolfgang/wolfgang_webots_sim/protos/robots/Wolfgang/Wolfgang.proto#L74 does not match the real robot's FOV.

If we want the FOV to match the real robot we should set it to 1.517 instead.

jgueldenstein avatar Jun 21 '24 13:06 jgueldenstein

This can be calculated by looking at the focal length defined in https://github.com/bit-bots/bitbots_main/blob/22622a780bca744a302a4546160e4e9ac9f91733/bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml#L24

$2 * atan(2048/(2*1080.60229)) = 1.517...$

jgueldenstein avatar Jun 21 '24 13:06 jgueldenstein