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Added example sdf for lens flare plugin
Signed-off-by: Jasmeet Singh <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,174 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <world name="default"> | ||
| <physics name="1ms" type="ignored"> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1.0</real_time_factor> | ||
| </physics> | ||
| <plugin | ||
| filename="gz-sim-physics-system" | ||
| name="gz::sim::systems::Physics"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-user-commands-system" | ||
| name="gz::sim::systems::UserCommands"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-scene-broadcaster-system" | ||
| name="gz::sim::systems::SceneBroadcaster"> | ||
| </plugin> | ||
| <plugin | ||
| filename="gz-sim-sensors-system" | ||
| name="gz::sim::systems::Sensors"> | ||
| <render_engine>ogre2</render_engine> | ||
| </plugin> | ||
|
|
||
| <light type="directional" name="sun"> | ||
| <cast_shadows>true</cast_shadows> | ||
| <pose>0 0 10 0 0 0</pose> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0.5 0.5 0.5 1</specular> | ||
| <direction>-0.5 0.1 -0.9</direction> | ||
| </light> | ||
|
|
||
| <model name="ground_plane"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <plane> | ||
| <normal>0 0 1</normal> | ||
| <size>100 100</size> | ||
| </plane> | ||
| </geometry> | ||
| <material> | ||
| <ambient>0.8 0.8 0.8 1</ambient> | ||
| <diffuse>0.8 0.8 0.8 1</diffuse> | ||
| <specular>0.8 0.8 0.8 1</specular> | ||
| </material> | ||
| </visual> | ||
| </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"> | ||
| <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 | ||
| filename="gz-sim-lens-flare-system" | ||
| name="gz::sim::systems::LensFlare"> | ||
| </plugin> | ||
| </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 | ||
| filename="gz-sim-lens-flare-system" | ||
| name="gz::sim::systems::LensFlare"> | ||
| <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 0.5 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 | ||
| filename="gz-sim-lens-flare-system" | ||
| name="gz::sim::systems::LensFlare"> | ||
| </plugin> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
|
|
||
| </world> | ||
| </sdf> |