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57 lines
1.5 KiB
57 lines
1.5 KiB
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="camera">
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<link name="link">
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<inertial>
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<pose>0.01 0.025 0.025 0 0 0</pose>
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<mass>0.01</mass>
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<inertia>
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<ixx>4.15e-6</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>2.407e-6</iyy>
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<iyz>0</iyz>
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<izz>2.407e-6</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.02 0.05 0.05</size>
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</box>
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</geometry>
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</visual>
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<!--752x480 MT9V034 image sensor, only 64x64 pixels used-->
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<sensor name="PX4Flow" type="camera">
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<always_on>true</always_on>
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<update_rate>100.0</update_rate>
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<visualize>true</visualize>
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<topic>/px4flow</topic>
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<camera>
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<horizontal_fov>0.088</horizontal_fov>
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<image>
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<width>64</width>
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<height>64</height>
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<format>L8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.001</stddev>
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</noise>
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</camera>
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<plugin name="opticalflow_plugin" filename="libgazebo_opticalflow_plugin.so">
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<robotNamespace></robotNamespace>
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<outputRate>20</outputRate>
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</plugin>
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</sensor>
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</link>
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</model>
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</sdf>
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<!-- vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
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