camera_projection.sdf

gistfile1.txt

<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="camera_projection">
    <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>
      <direction>-0.5 0.1 -0.9</direction>
    </light>

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>20 20 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <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">
      <pose>0 -1 0.5 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>2.5 0 1.5 0 0.0 3.14</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="camera_sensor" type="camera">
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <topic>camera</topic>
          <camera name="camera">
            <camera_info_topic>camera_info</camera_info_topic>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <lens>
              <intrinsics>
                <fx>256.666691776 </fx>
                <fy>254.19732909</fy>
                <cx>353.781709595</cx>
                <cy>236.287076</cy>
                <s>0</s>
              </intrinsics>
            </lens>
          </camera>
        </sensor>
        <sensor name="depth_camera_sensor" type="depth">
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <topic>depth_camera</topic>
          <camera name="depth_camera">
            <camera_info_topic>depth_camera_info</camera_info_topic>
            <image>
              <width>640</width>
              <height>480</height>
              <format>R8G8B8</format>
            </image>
            <lens>
              <intrinsics>
                <fx>256.666691776 </fx>
                <fy>254.19732909</fy>
                <cx>353.781709595</cx>
                <cy>236.287076</cy>
                <s>0</s>
              </intrinsics>
            </lens>
          </camera>
        </sensor>
      </link>
      <static>true</static>
    </model>

    <include>
      <pose>0 1 3 0.0 0.0 1.57</pose>
      <uri>
      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
      </uri>
    </include>

  </world>
</sdf>