469 lines
12 KiB
Plaintext
469 lines
12 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.4">
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<world name="default">
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<include><uri>model://ground_plane</uri></include>
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<include><uri>model://sun</uri></include>
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<model name="multicamera_1">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="cam1" type="multicamera">
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<update_rate>15</update_rate>
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<camera name="left">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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</sensor>
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</link>
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</model>
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<model name="multicamera_2">
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<pose>0 0 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="cam2" type="multicamera">
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<update_rate>15</update_rate>
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<camera name="left">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="right">
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<pose>0 -0.1 0 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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</sensor>
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</link>
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</model>
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<model name="multicamera_3">
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<pose>2 0 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="cam3" type="multicamera">
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<update_rate>15</update_rate>
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<camera name="top_left">
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<pose>0 -0.1 0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="top_right">
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<pose>0 0.1 0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="bottom_left">
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<pose>0 -0.1 -0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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</sensor>
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</link>
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</model>
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<model name="multicamera_4">
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<pose>2 0 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="cam4" type="multicamera">
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<update_rate>15</update_rate>
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<camera name="top_left">
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<pose>0 -0.1 0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="top_right">
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<pose>0 0.1 0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="bottom_left">
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<pose>0 -0.1 -0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="bottom_right">
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<pose>0 0.1 -0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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</sensor>
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</link>
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</model>
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<model name="multicamera_5">
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<pose>2 0 0.5 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 1</size>
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</box>
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</geometry>
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</visual>
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<sensor name="cam5" type="multicamera">
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<update_rate>15</update_rate>
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<camera name="top_left">
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<pose>0 -0.1 0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="top_right">
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<pose>0 0.1 0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="bottom_left">
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<pose>0 -0.1 -0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="bottom_right">
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<pose>0 0.1 -0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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||
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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||
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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<camera name="bottom_right_2">
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<pose>0 0.3 -0.1 0 0 0</pose>
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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||
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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||
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<clip>
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||
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<near>0.02</near>
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<far>100</far>
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</clip>
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</camera>
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</sensor>
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</link>
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||
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</model>
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||
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<model name="multicamera_6">
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<pose>2 0 0.5 0 0 0</pose>
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<link name="link">
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||
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<collision name="collision">
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||
|
|
<geometry>
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||
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<box>
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||
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<size>1 1 1</size>
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||
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</box>
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||
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</geometry>
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||
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</collision>
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||
|
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|
||
|
|
<visual name="visual">
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||
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|
<geometry>
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||
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|
<box>
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||
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<size>1 1 1</size>
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||
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</box>
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||
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</geometry>
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||
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</visual>
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||
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|
||
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<sensor name="cam6" type="multicamera">
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<update_rate>15</update_rate>
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||
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<camera name="top_left">
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||
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<pose>0 -0.1 0.1 0 0 0</pose>
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||
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<horizontal_fov>1.3962634</horizontal_fov>
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||
|
|
<image>
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||
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|
<width>1024</width>
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||
|
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<height>544</height>
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<format>R8G8B8</format>
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||
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</image>
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||
|
|
<clip>
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||
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|
<near>0.02</near>
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||
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<far>100</far>
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||
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</clip>
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||
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</camera>
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||
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|
<camera name="top_right">
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||
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|
<pose>0 0.1 0.1 0 0 0</pose>
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||
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|
<horizontal_fov>1.3962634</horizontal_fov>
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||
|
|
<image>
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||
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|
<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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</image>
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||
|
|
<clip>
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||
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<near>0.02</near>
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||
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<far>100</far>
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||
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</clip>
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||
|
|
<noise>
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||
|
|
<type>gaussian</type>
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||
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<mean>0.0</mean>
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||
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<stddev>0.01</stddev>
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</noise>
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||
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</camera>
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||
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|
||
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<camera name="bottom_left">
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||
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<pose>0 -0.1 -0.1 0 0 0</pose>
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||
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<horizontal_fov>1.3962634</horizontal_fov>
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||
|
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<image>
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||
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<width>1024</width>
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<height>544</height>
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<format>R8G8B8</format>
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||
|
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</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
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<far>100</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0.0</mean>
|
||
|
|
<stddev>0.01</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
|
||
|
|
<camera name="bottom_right">
|
||
|
|
<pose>0 0.1 -0.1 0 0 0</pose>
|
||
|
|
<horizontal_fov>1.3962634</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>1024</width>
|
||
|
|
<height>544</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>100</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0.0</mean>
|
||
|
|
<stddev>0.1</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
|
||
|
|
<camera name="bottom_right_2">
|
||
|
|
<pose>0 0.3 -0.1 0 0 0</pose>
|
||
|
|
<horizontal_fov>1.3962634</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>1024</width>
|
||
|
|
<height>544</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>100</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0.0</mean>
|
||
|
|
<stddev>1</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
|
||
|
|
<camera name="bottom_right_3">
|
||
|
|
<pose>0 0.3 -0.1 0 0 0</pose>
|
||
|
|
<horizontal_fov>1.3962634</horizontal_fov>
|
||
|
|
<image>
|
||
|
|
<width>1024</width>
|
||
|
|
<height>544</height>
|
||
|
|
<format>R8G8B8</format>
|
||
|
|
</image>
|
||
|
|
<clip>
|
||
|
|
<near>0.02</near>
|
||
|
|
<far>100</far>
|
||
|
|
</clip>
|
||
|
|
<noise>
|
||
|
|
<type>gaussian</type>
|
||
|
|
<mean>0.0</mean>
|
||
|
|
<stddev>10</stddev>
|
||
|
|
</noise>
|
||
|
|
</camera>
|
||
|
|
|
||
|
|
|
||
|
|
</sensor>
|
||
|
|
</link>
|
||
|
|
</model>
|
||
|
|
</world>
|
||
|
|
</sdf>
|