camera rotation error

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Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

The original report had attachments: after.png, before.png, Screenshot from 2014-01-20 16:28:53.png

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seems to be a regression in gazebo 2.0, that any finite camera sensor rotation along X-axis is inverted in simulation.

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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this patch seems to fix it:

diff -r dea35ec881a2ec602e3a54042f3e50ed35976ba8 gazebo/rendering/Camera.cc
--- a/gazebo/rendering/Camera.cc	Thu Oct 24 12:18:03 2013 -0700
+++ b/gazebo/rendering/Camera.cc	Thu Oct 24 16:50:39 2013 -0700
@@ -548,7 +548,7 @@
   // the global coordinate frame is right-handed with +Y up, +X right, and +Z
   // out of the screen.
   // This -1.0 multiplication is a hack to get back the correct orientation.
-  sRot.x *= -1.0;
+  // sRot.x *= -1.0;
 
   pRot = Conversions::Convert(this->pitchNode->getOrientation()).GetAsEuler();
 
@@ -589,7 +589,7 @@
   // the global coordinate frame is right-handed with +Y up, +X right, and +Z
   // out of the screen.
   // The -1.0 to Roll is a hack to set the correct orientation.
-  s.SetFromEuler(math::Vector3(-rpy.x, 0, rpy.z));
+  s.SetFromEuler(math::Vector3(rpy.x, 0, rpy.z));
 
   this->sceneNode->setOrientation(
       Ogre::Quaternion(s.w, s.x, s.y, s.z));

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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added test world, attaching camera view before and after patch.

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• set attachment to "after.png"

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• set attachment to "before.png"

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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pull request #789

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Original comment by Ian Chen (Bitbucket: Ian Chen, GitHub: iche033).

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• changed state from "new" to "resolved"

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed state from "resolved" to "open"

camera translation is broken as demonstrated by test world, where the left camera view should show the green block:

See commit c5f8131 (077ebae) for test that exposes this issue.

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• set attachment to "Screenshot from 2014-01-20 16:28:53.png"

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed state from "open" to "resolved"

pull request #916 fixes this issue.

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Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed state from "resolved" to "open"

will close when pr is merged

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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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I just tested and can confirm that 2.2 is broken also. I added the test from pull request #916 to branch issue_920_2.2 in 7e33c61. The test currently fails.

The multicamera_sensor.cc test does not exist in 1.9, but I just tested the camera_rotation_test.world in 1.9 and can confirm that 1.9 is broken too.

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Original comment by Jose Luis Rivero (Bitbucket: Jose Luis Rivero, GitHub: j-rivero).

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• changed state from "open" to "resolved"

pr is merged.

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

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• set version to "all"

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

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• changed state from "resolved" to "closed"