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Updates example lens flare sdf
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 - Adds doxygen comments in LensFlare.hh

Signed-off-by: Jasmeet Singh <[email protected]>
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@jasmeet0915
jasmeet0915 committed Mar 17, 2023
1 parent dca07b8 commit 50309bf
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Showing 3 changed files with 300 additions and 61 deletions.
307 changes: 263 additions & 44 deletions examples/worlds/camera_lens_flare.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,209 @@
<render_engine>ogre2</render_engine>
</plugin>

<gui fullscreen="0">
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Image Display -->
<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<topic>camera</topic>
</plugin>
</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
Expand Down Expand Up @@ -58,45 +261,58 @@
</link>
</model>

<!-- 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">
<model name='box'>
<pose>1.6 2.4 0.5 0 0 0</pose>
<link name='box_link'>
<inertial>
<inertia>
<ixx>0.16666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.16666</iyy>
<iyz>0</iyz>
<izz>0.16666</izz>
</inertia>
<mass>1</mass>
<pose>0 0 0 0 0 0</pose>
</inertial>
<collision name='box_collision'>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
<size>1 1 1</size>
</box>
</geometry>
<surface>
<friction>
<ode/>
</friction>
<bounce/>
<contact/>
</surface>
</collision>
<visual name='box_visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.3 0.3 0.3 1</ambient>
<diffuse>0.7 0.7 0.7 1</diffuse>
<specular>1 1 1 1</specular>
</material>
</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
filename="gz-sim-lens-flare-system"
name="gz::sim::systems::LensFlare">
</plugin>
</sensor>
<pose>0 0 0 0 0 0</pose>
<enable_wind>false</enable_wind>
</link>
<static>false</static>
<self_collide>false</self_collide>
</model>

<!-- camera model with lens flare plugin and scale applied -->
<model name="camera_lensflare_scaled">
<!-- wide-angle camera model with lens flare plugin -->
<model name="wide_angle_camera_lensflare">
<static>true</static>
<pose>0 0 0.05 0 0 0</pose>
<pose>0 2 0.5 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
Expand All @@ -105,9 +321,9 @@
</box>
</geometry>
</visual>
<sensor name="camera_sensor_lensflare_scaled" type="camera">
<sensor name="wide_angle_camera" type="wideanglecamera">
<camera>
<horizontal_fov>0.78539816339744828</horizontal_fov>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
Expand All @@ -116,23 +332,29 @@
<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>
<topic>wide_angle_camera</topic>
<plugin
filename="gz-sim-lens-flare-system"
name="gz::sim::systems::LensFlare">
<scale>0.1</scale>
</plugin>
</plugin>
</sensor>
</link>
</model>

<!-- wide-angle camera model with lens flare plugin -->
<model name="wide_angle_camera_lensflare">
<!-- wide-angle camera model with lens flare plugin -->
<model name="camera_lensflare">
<static>true</static>
<pose>0 2 0.5 0 0 0</pose>
<pose>0 2 0.3 0 0 0</pose>
<link name="link">
<visual name="visual">
<geometry>
Expand All @@ -141,7 +363,7 @@
</box>
</geometry>
</visual>
<sensor name="camera" type="wideanglecamera">
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
Expand All @@ -152,19 +374,16 @@
<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>
<topic>camera</topic>
<plugin
filename="gz-sim-lens-flare-system"
name="gz::sim::systems::LensFlare">
<scale>0.5</scale>
<color>3 3 3</color>
</plugin>
</sensor>
</link>
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