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Quella777
2025-08-25 16:30:02 +08:00
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60
stereo_camera/model-1_3.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.3">
<model name="stereocamera">
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="multicamera">
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>false</visualize>
<camera name="left">
<pose>0 0.2 0 0 0 0</pose>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<camera name="right">
<pose>0 -0.2 0 0 0 0</pose>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
</sensor>
</link>
</model>
</sdf>

60
stereo_camera/model-1_4.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="stereocamera">
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="multicamera">
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>false</visualize>
<camera name="left">
<pose>0 0.2 0 0 0 0</pose>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<camera name="right">
<pose>0 -0.2 0 0 0 0</pose>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
</sensor>
</link>
</model>
</sdf>

18
stereo_camera/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Stereo Camera</name>
<version>1.0</version>
<sdf version="1.3">model-1_3.sdf</sdf>
<sdf version="1.4">model-1_4.sdf</sdf>
<sdf version="1.5">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<description>
A stereo camera.
</description>
</model>

59
stereo_camera/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="stereocamera">
<link name="link">
<pose>0.05 0.05 0.05 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
<ixx>0.000166667</ixx>
<iyy>0.000166667</iyy>
<izz>0.000166667</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="multicamera">
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>false</visualize>
<camera name="left">
<pose>0 0.2 0 0 0 0</pose>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<camera name="right">
<pose>0 -0.2 0 0 0 0</pose>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
</sensor>
</link>
</model>
</sdf>