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72 lines
1.9 KiB
72 lines
1.9 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='mono_cam'>
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<pose>0 0 0 0 0 0</pose>
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<self_collide>false</self_collide>
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<static>false</static>
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<link name="camera_link">
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<inertial>
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<pose>0.03 0.03 0.03 0 0 0</pose>
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<mass>0.050</mass>
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<inertia>
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<ixx>0.00004</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00004</iyy>
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<iyz>0</iyz>
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<izz>0.00004</izz>
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</inertia>
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</inertial>
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<visual name="mono_cam/visual/housing">
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<geometry>
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<box>
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<size>0.02 0.04 0.04</size>
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</box>
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</geometry>
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</visual>
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<visual name="mono_cam/visual/lens">
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<pose>0.015 0 0 0 1.5707 0</pose>
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<geometry>
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<cylinder>
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<radius>0.008</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</visual>
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<visual name="mono_cam/visual/lens_glass">
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<pose>0.014 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.0079</radius>
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</sphere>
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</geometry>
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<material>
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<ambient>.4 .4 .5 .95</ambient>
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<diffuse>.4 .4 .5 .95</diffuse>
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<specular>1 1 1 1</specular>
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<emissive>0 0 0 1</emissive>
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</material>
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</visual>
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<sensor name="imager" type="camera">
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<gz_frame_id>camera_link</gz_frame_id>
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<pose>0 0 0 0 0 0</pose>
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<camera>
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<horizontal_fov>1.74</horizontal_fov>
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<image>
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<width>1280</width>
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<height>960</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>3000</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>true</visualize>
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</sensor>
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<gravity>true</gravity>
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<velocity_decay />
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</link>
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</model>
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</sdf>
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