model.sdf 1.21 KB
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<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="camera">
    <link name="link">
      <inertial>
        <pose>0.01 0.025 0.025 0 -0 0</pose>
        <mass>0.01</mass>
        <inertia>
          <ixx>4.15e-6</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>2.407e-6</iyy>
          <iyz>0</iyz>
          <izz>2.407e-6</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.02 0.05 0.05</size>
          </box>
        </geometry>
      </visual>
      <sensor name="PX4Flow" type="camera">
        <camera>
          <horizontal_fov>0.6</horizontal_fov>
          <image>
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            <width>256</width>
            <height>256</height>
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          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
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            <stddev>0.001</stddev>
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          </noise>
        </camera>
        <plugin name="CameraPlugin" filename="libgazebo_opticalFlow_plugin.so"/>
        <always_on>1</always_on>
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        <update_rate>30</update_rate>
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        <visualize>false</visualize>
      </sensor>
    </link>
  </model>
</sdf>