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Absolem: Added sensor configs 6, 7 and 8.
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submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae
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submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae
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submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
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| <?xml version="1.0"?> | ||
| <root xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
| <!-- Mass properties from datasheet --> | ||
| <xacro:property name="basler_ace_mass" value="0.09" scope="global" /> | ||
| <xacro:property name="basler_ace2_pro_mass" value="0.105" scope="global" /> | ||
| <xacro:property name="fisheye_lens_mass" value="0.05" scope="global" /> | ||
| <xacro:property name="omnicam_lens_mass" value="0.127" scope="global" /> | ||
| <xacro:property name="c_mount_flange_distance" value="0.017526" scope="global" /> | ||
| <xacro:property name="c_mount_radius" value="${0.025/2}" scope="global" /> | ||
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| <xacro:macro name="basler_ace_base" params="name hfov_deg frame_rate resolution_x resolution_y fisheye:=0 camera_length origin_to_camera_front_dist camera_mass camera_mesh lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0"> | ||
| <xacro:property name="camera_width" value="0.029"/> | ||
| <xacro:property name="camera_height" value="0.029"/> | ||
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| <xacro:property name="sensor_chip_pos" value="${origin_to_camera_front_dist - c_mount_flange_distance}" /> | ||
| <xacro:property name="lens_back_pos" value="${sensor_chip_pos + lens_back_focal_distance}" /> | ||
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| <link name="$(arg prefix)${name}"> | ||
| <visual> | ||
| <origin xyz="0 0 ${camera_height/2}" rpy="0 0 0" /> | ||
| <geometry> | ||
| <!-- The origin of the mesh is center above tripod screw --> | ||
| <mesh filename="${camera_mesh}"/> | ||
| </geometry> | ||
| </visual> | ||
| <visual> | ||
| <!-- The origin of the mesh is at the back of the lens --> | ||
| <origin xyz="${lens_back_pos} 0 ${camera_height/2}" rpy="0 0 0" /> | ||
| <geometry> | ||
| <mesh filename="${lens_mesh}"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision name="${name}_collision"> | ||
| <origin rpy="0 0 0" xyz="${origin_to_camera_front_dist - camera_length/2} 0 ${camera_height/2}"/> | ||
| <geometry> | ||
| <box size="${camera_length} ${camera_width} ${camera_height}" /> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="${name}_lens_collision"> | ||
| <origin rpy="0 ${pi/2} 0" xyz="${lens_back_pos + lens_length/2} 0 ${camera_height/2}"/> | ||
| <geometry> | ||
| <cylinder length="${lens_length}" radius="${c_mount_radius}" /> | ||
| </geometry> | ||
| </collision> | ||
| <xacro:box_inertial mass="${camera_mass + lens_mass}" | ||
| width="${camera_width}" height="${camera_height}" depth="${camera_length + lens_length - (c_mount_flange_distance - lens_back_focal_distance)}" | ||
| xyz="${origin_to_camera_front_dist + (lens_length - (c_mount_flange_distance - lens_back_focal_distance))/2 - camera_length/2} 0 ${camera_height/2}" /> | ||
| </link> | ||
| <xacro:if value="${simulate}"> | ||
| <gazebo reference="$(arg prefix)${name}"> | ||
| <!-- Workaround for https://github.com/ignitionrobotics/ign-sensors/issues/24 --> | ||
| <xacro:if value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}"> | ||
| <xacro:property name="cam_type" value="camera"/> | ||
| </xacro:if> | ||
| <xacro:unless value="${fisheye == 0 or '$(arg rendering_target)' == 'ign'}"> | ||
| <xacro:property name="cam_type" value="wideanglecamera"/> | ||
| </xacro:unless> | ||
| <sensor name="${name}" type="${cam_type}"> | ||
| <!-- I think the simulated sensor should be placed in the middle of the entrance pupil. --> | ||
| <xacro:property name="virtual_lens_origin" value="${lens_back_pos + lens_length - lens_entrance_pupil_position}" /> | ||
| <pose>${virtual_lens_origin} 0 ${camera_height/2} 0 0 0</pose> | ||
| <update_rate>${frame_rate}</update_rate> | ||
| <visualize>${visualize}</visualize> | ||
| <camera> | ||
| <horizontal_fov>${radians(hfov_deg)}</horizontal_fov> | ||
| <image> | ||
| <width>${resolution_x}</width> | ||
| <height>${resolution_y}</height> | ||
| <format>R8G8B8</format> | ||
| </image> | ||
| <clip> | ||
| <xacro:property name="clip" value="${lens_entrance_pupil_position * 1.1 if near_clip == -1 else near_clip}" /> | ||
| <near>${clip}</near> | ||
| <far>300</far> | ||
| </clip> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.007</stddev> | ||
| </noise> | ||
| <xacro:if value="${fisheye and '$(arg rendering_target)' == 'gz'}"> | ||
| <lens> | ||
| <type>stereographic</type> | ||
| <scale_to_hfov>true</scale_to_hfov> | ||
| <cutoff_angle>${pi}</cutoff_angle> | ||
| <env_texture_size>1024</env_texture_size> | ||
| </lens> | ||
| </xacro:if> | ||
| </camera> | ||
| </sensor> | ||
| </gazebo> | ||
| </xacro:if> | ||
| </xacro:macro> | ||
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| <xacro:macro name="basler_ace2_pro_link" params="name hfov_deg fisheye:=0 lens_length lens_back_focal_distance lens_entrance_pupil_position lens_mass lens_mesh near_clip:=-1 simulate:=1 visualize:=0"> | ||
| <xacro:basler_ace_base name="${name}" hfov_deg="${hfov_deg}" frame_rate="9" resolution_x="1920" resolution_y="1200" | ||
| fisheye="${fisheye}" simulate="${simulate}" visualize="${visualize}" | ||
| camera_length="0.0555" origin_to_camera_front_dist="0.0524" camera_mass="${basler_ace2_pro_mass}" | ||
| camera_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae" | ||
| lens_length="${lens_length}" lens_back_focal_distance="${lens_back_focal_distance}" | ||
| lens_entrance_pupil_position="${lens_entrance_pupil_position}" lens_mass="${lens_mass}" lens_mesh="${lens_mesh}" | ||
| near_clip="${near_clip}" | ||
| /> | ||
| </xacro:macro> | ||
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| <xacro:macro name="basler_ace_omnicam" params="name simulate:=1 visualize:=0"> | ||
| <xacro:basler_ace2_pro_link name="${name}" hfov_deg="86.5" simulate="${simulate}" visualize="${visualize}" | ||
| lens_back_focal_distance="0.00809" lens_entrance_pupil_position="0.01066" lens_length="0.03974" lens_mass="${omnicam_lens_mass}" | ||
| lens_mesh="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae" /> | ||
| </xacro:macro> | ||
| </root> |
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