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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0"?> | ||
| <model> | ||
| <name>Sensor::SemanticSegmentationCamera</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.9">model.sdf</sdf> | ||
| <author> | ||
| <name>LG Electronics</name> | ||
| <email></email> | ||
| </author> | ||
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| <description> | ||
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| </description> | ||
| </model> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,86 @@ | ||
| <?xml version="1.0"?> | ||
| <sdf version='1.9'> | ||
| <model name='segment_cam'> | ||
| <static>0</static> | ||
| <allow_auto_disable>1</allow_auto_disable> | ||
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| <link name='link'> | ||
| <self_collide>0</self_collide> | ||
| <enable_wind>0</enable_wind> | ||
| <kinematic>0</kinematic> | ||
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| <inertial> | ||
| <mass>0.072</mass> | ||
| <inertia> | ||
| <ixx>0.000007</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.000007</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.000007</izz> | ||
| </inertia> | ||
| </inertial> | ||
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| <collision name='collision_camera'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.030000 0.100000 0.025000</size> | ||
| </box> | ||
| </geometry> | ||
| <max_contacts>1</max_contacts> | ||
| </collision> | ||
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| <visual name='visual_camera'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.030000 0.100000 0.025000</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
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| <sensor name='camera' type='segmentation_camera'> | ||
| <camera> | ||
| <segmentation_type>semantic</segmentation_type> | ||
| <save enabled="False"> | ||
| <path>/home/yg/Pictures/cam</path> | ||
| </save> | ||
| <horizontal_fov>2.1</horizontal_fov> | ||
| <image> | ||
| <width>320</width> | ||
| <height>240</height> | ||
| <format>L16</format> | ||
| </image> | ||
| <clip> | ||
| <near>0.054</near> | ||
| <far>50</far> | ||
| </clip> | ||
| <noise> | ||
| <type>gaussian</type> | ||
| <mean>0.0</mean> | ||
| <stddev>0.00</stddev> | ||
| </noise> | ||
| <distortion> | ||
| <k1>0.10369</k1> | ||
| <k2>0.10328</k2> | ||
| </distortion> | ||
| </camera> | ||
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| <always_on>1</always_on> | ||
| <update_rate>5</update_rate> | ||
| <visualize>0</visualize> | ||
| <plugin name='SegmentationCameraPlugin' filename='libSegmentationCameraPlugin.so'> | ||
| <ros2> | ||
| <topic_name>segmentation</topic_name> | ||
| <frame_id>camera_link</frame_id> | ||
| </ros2> | ||
| <segmentation> | ||
| <label>BOX</label> | ||
| <label>CYLINDER</label> | ||
| <!-- <label>SPHERE</label> --> | ||
| <label>ground</label> | ||
| </segmentation> | ||
| </plugin> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
| </sdf> |