Created
May 31, 2024 12:39
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Camera sensors with pose offset
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<?xml version="1.0" ?> | |
<sdf version="1.6"> | |
<world name="camera_test"> | |
<physics name="1ms" type="ignored"> | |
<max_step_size>0.001</max_step_size> | |
<real_time_factor>1.0</real_time_factor> | |
</physics> | |
<plugin | |
filename="gz-sim-physics-system" | |
name="gz::sim::systems::Physics"> | |
</plugin> | |
<plugin | |
filename="gz-sim-sensors-system" | |
name="gz::sim::systems::Sensors"> | |
<render_engine>ogre2</render_engine> | |
</plugin> | |
<plugin | |
filename="gz-sim-user-commands-system" | |
name="gz::sim::systems::UserCommands"> | |
</plugin> | |
<plugin | |
filename="gz-sim-scene-broadcaster-system" | |
name="gz::sim::systems::SceneBroadcaster"> | |
</plugin> | |
<gui fullscreen="0"> | |
<!-- 3D scene --> | |
<plugin filename="MinimalScene" name="3D View"> | |
<gz-gui> | |
<title>3D View</title> | |
<property type="bool" key="showTitleBar">false</property> | |
<property type="string" key="state">docked</property> | |
</gz-gui> | |
<engine>ogre2</engine> | |
<scene>scene</scene> | |
<ambient_light>0.4 0.4 0.4</ambient_light> | |
<background_color>0.8 0.8 0.8</background_color> | |
<camera_pose>-6 0 6 0 0.5 0</camera_pose> | |
</plugin> | |
<!-- Plugins that add functionality to the scene --> | |
<plugin filename="EntityContextMenuPlugin" name="Entity context menu"> | |
<gz-gui> | |
<property key="state" type="string">floating</property> | |
<property key="width" type="double">5</property> | |
<property key="height" type="double">5</property> | |
<property key="showTitleBar" type="bool">false</property> | |
</gz-gui> | |
</plugin> | |
<plugin filename="GzSceneManager" name="Scene Manager"> | |
<gz-gui> | |
<property key="resizable" type="bool">false</property> | |
<property key="width" type="double">5</property> | |
<property key="height" type="double">5</property> | |
<property key="state" type="string">floating</property> | |
<property key="showTitleBar" type="bool">false</property> | |
</gz-gui> | |
</plugin> | |
<plugin filename="InteractiveViewControl" name="Interactive view control"> | |
<gz-gui> | |
<property key="resizable" type="bool">false</property> | |
<property key="width" type="double">5</property> | |
<property key="height" type="double">5</property> | |
<property key="state" type="string">floating</property> | |
<property key="showTitleBar" type="bool">false</property> | |
</gz-gui> | |
</plugin> | |
<plugin filename="CameraTracking" name="Camera Tracking"> | |
<gz-gui> | |
<property key="resizable" type="bool">false</property> | |
<property key="width" type="double">5</property> | |
<property key="height" type="double">5</property> | |
<property key="state" type="string">floating</property> | |
<property key="showTitleBar" type="bool">false</property> | |
</gz-gui> | |
</plugin> | |
<!-- World control --> | |
<plugin filename="WorldControl" name="World control"> | |
<gz-gui> | |
<title>World control</title> | |
<property type="bool" key="showTitleBar">false</property> | |
<property type="bool" key="resizable">false</property> | |
<property type="double" key="height">72</property> | |
<property type="double" key="z">1</property> | |
<property type="string" key="state">floating</property> | |
<anchors target="3D View"> | |
<line own="left" target="left"/> | |
<line own="bottom" target="bottom"/> | |
</anchors> | |
</gz-gui> | |
<play_pause>true</play_pause> | |
<step>true</step> | |
<start_paused>true</start_paused> | |
<use_event>true</use_event> | |
</plugin> | |
<!-- World statistics --> | |
<plugin filename="WorldStats" name="World stats"> | |
<gz-gui> | |
<title>World stats</title> | |
<property type="bool" key="showTitleBar">false</property> | |
<property type="bool" key="resizable">false</property> | |
<property type="double" key="height">110</property> | |
<property type="double" key="width">290</property> | |
<property type="double" key="z">1</property> | |
<property type="string" key="state">floating</property> | |
<anchors target="3D View"> | |
<line own="right" target="right"/> | |
<line own="bottom" target="bottom"/> | |
</anchors> | |
</gz-gui> | |
<sim_time>true</sim_time> | |
<real_time>true</real_time> | |
<real_time_factor>true</real_time_factor> | |
<iterations>true</iterations> | |
</plugin> | |
<!-- Inspector --> | |
<plugin filename="ComponentInspector" name="Component inspector"> | |
<gz-gui> | |
<property type="string" key="state">docked</property> | |
</gz-gui> | |
</plugin> | |
<!-- Entity tree --> | |
<plugin filename="EntityTree" name="Entity tree"> | |
<gz-gui> | |
<property type="string" key="state">docked</property> | |
</gz-gui> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display"> | |
<gz-gui> | |
<title>RGB camera</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
</gz-gui> | |
<topic>camera</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
<plugin filename="ImageDisplay" name="Image Display 2"> | |
<gz-gui> | |
<title>Depth camera</title> | |
<property key="state" type="string">floating</property> | |
<property type="double" key="width">350</property> | |
<property type="double" key="height">315</property> | |
<property type="double" key="x">500</property> | |
</gz-gui> | |
<topic>depth_camera</topic> | |
<topic_picker>false</topic_picker> | |
</plugin> | |
</gui> | |
<light type="directional" name="sun"> | |
<cast_shadows>true</cast_shadows> | |
<pose>0 0 10 0 0 0</pose> | |
<diffuse>0.8 0.8 0.8 1</diffuse> | |
<specular>0.2 0.2 0.2 1</specular> | |
<attenuation> | |
<range>1000</range> | |
<constant>0.9</constant> | |
<linear>0.01</linear> | |
<quadratic>0.001</quadratic> | |
</attenuation> | |
<direction>-0.5 0.1 -0.9</direction> | |
</light> | |
<model name="ground_plane"> | |
<static>true</static> | |
<link name="link"> | |
<collision name="collision"> | |
<geometry> | |
<!--plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane--> | |
<box> | |
<size>20 20 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<!--plane> | |
<normal>0 0 1</normal> | |
<size>100 100</size> | |
</plane--> | |
<box> | |
<size>20 20 0.1</size> | |
</box> | |
</geometry> | |
<material> | |
<ambient>0.8 0.8 0.8 1</ambient> | |
<diffuse>0.8 0.8 0.8 1</diffuse> | |
<specular>0.8 0.8 0.8 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
<model name="box"> | |
<static> true</static> | |
<pose>3.8 0 1.0 0 0 0</pose> | |
<link name="box_link"> | |
<inertial> | |
<inertia> | |
<ixx>1</ixx> | |
<ixy>0</ixy> | |
<ixz>0</ixz> | |
<iyy>1</iyy> | |
<iyz>0</iyz> | |
<izz>1</izz> | |
</inertia> | |
<mass>1.0</mass> | |
</inertial> | |
<collision name="box_collision"> | |
<geometry> | |
<box> | |
<size>1 1 1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="box_visual"> | |
<geometry> | |
<box> | |
<size>1 1 1</size> | |
</box> | |
</geometry> | |
<material> | |
<ambient>1 0 0 1</ambient> | |
<diffuse>1 0 0 1</diffuse> | |
<specular>1 0 0 1</specular> | |
</material> | |
</visual> | |
</link> | |
</model> | |
<model name="cameras_alone"> | |
<pose>0.5 0 1.5 0 0.0 0</pose> | |
<link name="link"> | |
<pose>0.05 0.05 0.05 0 0 0</pose> | |
<inertial> | |
<mass>0.1</mass> | |
<inertia> | |
<ixx>0.000166667</ixx> | |
<iyy>0.000166667</iyy> | |
<izz>0.000166667</izz> | |
</inertia> | |
</inertial> | |
<collision name="collision"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</collision> | |
<visual name="visual"> | |
<geometry> | |
<box> | |
<size>0.1 0.1 0.1</size> | |
</box> | |
</geometry> | |
</visual> | |
<sensor name="cameras_alone" type="camera"> | |
<pose>0.3 0 0 0.0 0 0</pose> | |
<camera> | |
<pose>0.0 0 0 -0.1 0 0</pose> | |
<horizontal_fov>1.047</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>100</far> | |
</clip> | |
</camera> | |
<always_on>1</always_on> | |
<update_rate>30</update_rate> | |
<visualize>true</visualize> | |
<topic>camera</topic> | |
<enable_metrics>true</enable_metrics> | |
</sensor> | |
<sensor name="depth_camera1" type="depth_camera"> | |
<pose>0.3 0 0 0.0 0 0</pose> | |
<update_rate>10</update_rate> | |
<topic>depth_camera</topic> | |
<enable_metrics>true</enable_metrics> | |
<camera> | |
<pose>0.0 0 0 -0.1 0 0</pose> | |
<horizontal_fov>1.05</horizontal_fov> | |
<image> | |
<width>320</width> | |
<height>240</height> | |
<format>R_FLOAT32</format> | |
</image> | |
<clip> | |
<near>0.1</near> | |
<far>10.0</far> | |
</clip> | |
</camera> | |
</sensor> | |
</link> | |
<static>true</static> | |
</model> | |
</world> | |
</sdf> |
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