From 413ed86c042d293b886df27e0727b36ab533e2fd Mon Sep 17 00:00:00 2001
From: "Hyunseok Yang (YG)" <hyunseok7.yang@lge.com>
Date: Fri, 8 Mar 2024 15:23:01 +0900
Subject: [PATCH] Add new sensor model - segmentation camera

---
 models/robot_segcam/model.config | 14 ++++++
 models/robot_segcam/model.sdf    | 86 ++++++++++++++++++++++++++++++++
 2 files changed, 100 insertions(+)
 create mode 100644 models/robot_segcam/model.config
 create mode 100644 models/robot_segcam/model.sdf

diff --git a/models/robot_segcam/model.config b/models/robot_segcam/model.config
new file mode 100644
index 0000000..5b6071e
--- /dev/null
+++ b/models/robot_segcam/model.config
@@ -0,0 +1,14 @@
+<?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>
+
+    <description>
+
+    </description>
+</model>
diff --git a/models/robot_segcam/model.sdf b/models/robot_segcam/model.sdf
new file mode 100644
index 0000000..12f007b
--- /dev/null
+++ b/models/robot_segcam/model.sdf
@@ -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>
+
+  <link name='link'>
+    <self_collide>0</self_collide>
+    <enable_wind>0</enable_wind>
+    <kinematic>0</kinematic>
+
+    <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>
+
+    <collision name='collision_camera'>
+      <geometry>
+        <box>
+          <size>0.030000 0.100000 0.025000</size>
+        </box>
+      </geometry>
+      <max_contacts>1</max_contacts>
+    </collision>
+
+    <visual name='visual_camera'>
+      <geometry>
+        <box>
+          <size>0.030000 0.100000 0.025000</size>
+        </box>
+      </geometry>
+    </visual>
+
+    <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>
+
+      <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>