forked from xtdrone/XTDrone
74 lines
2.2 KiB
XML
74 lines
2.2 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="stereo_camera">
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<link name="link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.00000166667</ixx>
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<iyy>0.00000166667</iyy>
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<izz>0.00000166667</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.015 0.1 0.02</size>
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</box>
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</geometry>
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</visual>
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<sensor name="camera" type="multicamera">
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<always_on>1</always_on>
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<update_rate>30</update_rate>
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<visualize>false</visualize>
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<camera name="left">
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<pose>0 0.06 0 0 0 0</pose>
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<horizontal_fov>1.5708</horizontal_fov>
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<image>
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<width>752</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>300</far>
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</clip>
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</camera>
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<camera name="right">
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<pose>0 -0.06 0 0 0 0</pose>
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<horizontal_fov>1.5708</horizontal_fov>
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<image>
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<width>752</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.1</near>
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<far>300</far>
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</clip>
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</camera>
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<plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
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<robotNamespace></robotNamespace>
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<alwaysOn>true</alwaysOn>
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<updateRate>30</updateRate>
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<cameraName>/stereo_camera</cameraName>
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<imageTopicName>image_raw</imageTopicName>
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<cameraInfoTopicName>camera_info</cameraInfoTopicName>
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<frameName>stereo_camera_frame</frameName>
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<hackBaseline>0.12</hackBaseline>
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<Fx>376.0</Fx>
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<Fy>376.0</Fy>
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<Cx>376.0</Cx>
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<Cy>240.0</Cy>
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<distortionK1>-0.1</distortionK1>
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<distortionK2>0.01</distortionK2>
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<distortionK3>0.0</distortionK3>
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<distortionT1>5e-5</distortionT1>
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<distortionT2>-1e-4</distortionT2>
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</plugin>
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</sensor>
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</link>
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</model>
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</sdf>
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