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[Urban Feature] Camera coordinate frame changed from gazebo9 to ignition #184

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osrf-migration opened this issue Sep 11, 2019 · 5 comments · Fixed by #413
Closed

[Urban Feature] Camera coordinate frame changed from gazebo9 to ignition #184

osrf-migration opened this issue Sep 11, 2019 · 5 comments · Fixed by #413
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duplicate This issue or pull request already exists enhancement New feature or request major

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@osrf-migration
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Original report (archived issue) by Neil Johnson (Bitbucket: realdealneil1980).

It appears that the orientation of the camera coordinate frame is different in the ignition simulator than in the gazebo 9 simulator. This has had undesirable consequences with some of our object localization math and visual odometry methods.

In gazebo 9, the camera frame (according to tf) was oriented with x right, y down, z out the optical axis of the camera. This lined up with our expectations. In ignition, the camera frame is oriented x out the optical axis, y left, and z up. So, it is basically the same as the body frame axes translated to the base of the camera.

I don’t particularly want things to change at this point, but I’d like it if someone could confirm that indeed the coordinate frame changed during the migration to ignition, and to make the teams aware of this change in case it affects them too.
@osrf-migration
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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

  • set assignee_account_id to "557058:10b01d41-a2e9-4a41-a907-e6e2f03b6cd5"
  • set assignee to "iche033 (Bitbucket: iche033, GitHub: iche033)"
  • changed kind from "bug" to "enhancement"

@osrf-migration
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Original comment by Ian Chen (Bitbucket: Ian Chen).

I looked into a couple of camera urdfs that were used in gazebo9 and confirmed that the optical frame is indeed different from ignition. Like you said, we probably don’t want to change things now but it’s something to consider after the tunnel circuit.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

  • changed title from "Camera coordinate frame changed from gazebo9 to ignition" to "[Urban Feature] Camera coordinate frame changed from gazebo9 to ignition"

@osrf-migration
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Original comment by Angela Maio (Bitbucket: Angela Maio).

Recommend noting this in the Migration Guide if it will not be changed soon or ever

@osrf-migration osrf-migration added major enhancement New feature or request labels Apr 9, 2020
@osrf-migration osrf-migration mentioned this issue Apr 9, 2020
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@angelacmaio angelacmaio added the duplicate This issue or pull request already exists label Jun 24, 2020
@angelacmaio angelacmaio linked a pull request Jun 24, 2020 that will close this issue
Add optical frame publisher #413
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@nkoenig
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nkoenig commented Aug 11, 2020

Optical frames have been added.

@nkoenig nkoenig closed this as completed Aug 11, 2020
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Add optical frame publisher osrf/subt
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@nkoenig @angelacmaio @osrf-migration