Persistent IR Lock Target Capture
Closed this issue · 11 comments
Either set fov of camera super high or figure out a way to ensure that drone always has the target captured and collecting data
Doing this update in the Gazebo 7 version branch to test on better hardware
horizontal field of view parameter for camera sensors in SDF, the units are in radians
Looks like if I exceed 180 degrees the simulation will throw an error:
http://answers.gazebosim.org/question/16178/gazebo-wide-angle-camera-tutorial-throws-error/
Not sure if this is the case in gazebo 9 will have to try
Trying 90 degrees first
90 degrees working fine, can adjust ad we go
Fast moving unstable drones still lose target, need to tune FOV or look into another way to keep persistent target capture so debugging controllers is easier
Branching into gazebo7_ver_camconfig
https://www.adimec.com/resolution-versus-field-of-view/
About to test but changing FOV to 180 degrees and resolution to 1920x1800 to see if that improves target acquiring performance
Quick tested yielded well, the drone was able to see target even at an ALT of 0. Next flight sim test will determine final performance and this issue can be closed out
Had to set fov to 135 degrees and resolution back to 320 by 240. Seems to be working better now
Waiting for further testing for 135 degree and maybe increase resolution
Works for static beacon, closing out