stereohead.world

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

<?xml version="1.0"?>
<gz:world xmlns:gz="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:window="http://playerstage.sourceforge.net/gazebo/xmlschema/#window" xmlns:param="http://playerstage.sourceforge.net/gazebo/xmlschema/#param">

  <model:ObserverCam>
    <id>userCam0</id>
    <xyz>-0.195 -1.665 1.691</xyz>
    <rpy>-0 38 53</rpy>
    <imageSize>640 480</imageSize>
  </model:ObserverCam>

  <model:LightSource>
    <id>light0</id>
    <xyz>-5.000 -5.000 10.000</xyz>
  </model:LightSource>

  <model:GroundPlane>
    <id>ground1</id>
    <color>0.5 0.5 0.5</color>
    <textureFile>grid.ppm</textureFile>
  </model:GroundPlane>

  <model:Pioneer2AT>
    <id>robot1</id>
    <xyz>-0.000 0.000 0.001</xyz>

    <model:SonyVID30>
      <id>camera1</id>
      <xyz>0 0 0.30</xyz>
      <rpy>0 0 0</rpy>

      <model:StereoHead>
        <id>stereo1</id>
        <parentBody>head</parentBody>
        <xyz>0 0 0.15</xyz>
        <rpy>0 0 0</rpy>
        <hfov>60</hfov>
        <baseline>0.15</baseline>
        <enableImageLeft>true</enableImageLeft>
        <enableImageRight>true</enableImageRight>
        <enableDisparityLeft>true</enableDisparityLeft>
        <enableDisparityRight>true</enableDisparityRight>
      </model:StereoHead>

    </model:SonyVID30>
  </model:Pioneer2AT>

  <model:SimpleSolid>
    <xyz>2.500 0.000 -0.000</xyz>
    <shape>box</shape>
    <size>1 2 1</size>
    <color>0.0 1.0 0</color>     
  </model:SimpleSolid>

  <model:SimpleSolid>
    <xyz>1.000 -0.500 0.000</xyz>
    <shape>cylinder</shape>
    <size>0.5 0.50</size>
    <color>0.0 0.0 1</color>     
  </model:SimpleSolid>

  <model:SimpleSolid>
    <xyz>1.500 0.500 -0.000</xyz>
    <shape>sphere</shape>
    <size>0.30</size>
    <color>1.0 0.5 0</color>     
  </model:SimpleSolid>

</gz:world>