ppovb5fc7/gazebo/worlds/lensflare_plugin.world

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XML

<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<!-- Light Source -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 0 0.0 0.0 0.0</pose>
<diffuse>1.0 1.0 1.0 1.0</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>-1.0 0.0 -0.2</direction>
</light>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- camera model with lens flare plugin -->
<model name="camera_lensflare">
<static>true</static>
<pose>0 0 0.05 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera_sensor_lensflare" type="camera">
<camera>
<horizontal_fov>0.78539816339744828</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin name="lensflare" filename="libLensFlareSensorPlugin.so"/>
</sensor>
</link>
</model>
<!-- camera model with lens flare plugin and scale applied -->
<model name="camera_lensflare_scaled">
<static>true</static>
<pose>0 0 0.05 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera_sensor_lensflare_scaled" type="camera">
<camera>
<horizontal_fov>0.78539816339744828</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin name="lensflare" filename="libLensFlareSensorPlugin.so">
<scale>0.1</scale>
</plugin>
</sensor>
</link>
</model>
<!-- wide-angle camera model with lens flare plugin -->
<model name="wide_angle_camera_lensflare">
<static>true</static>
<pose>0 2 0.05 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="wideanglecamera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<lens>
<type>gnomonical</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>1.5707</cutoff_angle>
<env_texture_size>512</env_texture_size>
</lens>
</camera>
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<plugin name="lensflare" filename="libLensFlareSensorPlugin.so"/>
</sensor>
</link>
</model>
<!-- multi-camera model with lens flare plugin -->
<model name="multi_camera_lensflare">
<static>true</static>
<pose>0 4 0.05 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor type="multicamera" name="stereo_camera">
<update_rate>30.0</update_rate>
<camera name="left">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
<camera name="right">
<pose>0 -0.07 0 0 0 0</pose>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>800</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
</camera>
<visualize>true</visualize>
<plugin name="lensflare" filename="libLensFlareSensorPlugin.so"/>
</sensor>
</link>
</model>
</world>
</sdf>