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81 lines
2.3 KiB
81 lines
2.3 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version='1.9'>
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<model name='optical_flow'>
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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="flow_link">
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<inertial>
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<pose>0 0 -0.005 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="optical_flow/visual/housing">
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<geometry>
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<box>
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<size>0.034 0.034 0.01</size>
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</box>
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</geometry>
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<material>
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<ambient>0.1 0.1 0.1 1</ambient>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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<specular>0.01 0.01 0.01 1</specular>
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</material>
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</visual>
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<visual name="optical_flow/visual/lens">
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<pose>0 0 -0.005 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.006</radius>
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<length>0.005</length>
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</cylinder>
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</geometry>
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</visual>
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<visual name="optical_flow/visual/lens_glass">
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<pose>0 0 -0.0075 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.0059</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="flow_camera" type="camera">
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<gz_frame_id>flow_link</gz_frame_id>
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<pose>0 0 0 0 1.5707 0</pose>
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<camera>
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<horizontal_fov>0.733038</horizontal_fov>
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<image>
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<width>100</width>
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<height>100</height>
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</image>
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<clip>
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<near>0.1</near>
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<far>30</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>50</update_rate>
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<visualize>true</visualize>
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</sensor>
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<sensor name="optical_flow" type="custom" gz:type="optical_flow">
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<gz_frame_id>flow_link</gz_frame_id>
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<always_on>1</always_on>
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<update_rate>50</update_rate>
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<visualize>true</visualize>
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</sensor>
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</link>
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</model>
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</sdf>
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