From b33b26385c53838c2dd7763011630226fcc7b9c4 Mon Sep 17 00:00:00 2001 From: Naoki-Hiraoka Date: Mon, 6 Dec 2021 13:17:18 +0900 Subject: [PATCH] [jaxon_jvrc/JAXON_JVRC] fix t265, l515 camera --- jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl | 85 +++++++++++-------- .../JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl | 85 +++++++++++-------- .../JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl | 85 +++++++++++-------- 3 files changed, 153 insertions(+), 102 deletions(-) diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl index 0fc2b643..6724eff6 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl @@ -451,41 +451,58 @@ DEF JAXON_JVRC Humanoid { fieldOfView 1.5708 sensorId 1 } - DEF l515 VisionSensor { # for l515 - name "l515" - translation 0.140 0.0 -0.015 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.357407 -0.357407 -0.862856 1.71777 - type "COLOR" - sensorId 7 - width 960 - height 540 - fieldOfView 0.750492 #43deg (70deg x 43deg) - frameRate 30 - } - DEF l515_DEPTH VisionSensor { # for l515 DEPTH - name "l515_DEPTH" - translation 0.140 0.0 -0.015 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.357407 -0.357407 -0.862856 1.71777 - type "COLOR_DEPTH" - sensorId 8 - width 640 - height 480 - fieldOfView 0.959931 #55deg (70deg x 55deg) - frameRate 30 + DEF rs_l515 Joint { + translation 0.140 0.0 -0.015 + rotation 0.0 1.0 0.0 0.785398 + jointType "fixed" + children [ + DEF rs_l515_link Segment { + } #Segment rs_l515_link + DEF rs_l515_color_optical_frame VisionSensor { # for l515 + name "rs_l515_color_optical_frame" + translation 0.004 -0.000 0.014 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis + rotation 0.582492 -0.58157 -0.567872 2.11931 + type "COLOR" + sensorId 7 + width 1920 + height 1080 + fieldOfView 0.750492 #43deg (70deg x 43deg) + frameRate 30 + } + DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH + name "rs_l515_depth_optical_frame" + translation 0.0 0.0 0.0 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis + rotation 0.57735 -0.57735 -0.57735 2.0944 + type "COLOR_DEPTH" + sensorId 8 + width 1024 + height 768 + fieldOfView 0.959931 #55deg (70deg x 55deg) + frameRate 30 + } + ] } - DEF t265 VisionSensor { # for t265 - name "t265" - translation 0.1459 0.0775 0.0085 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393 - type "MONO" - sensorId 9 - width 848 - height 800 - fieldOfView 2.84489 #163deg fisheye like - frameRate 30 + DEF rs_t265 Joint { + translation 0.1459 0.00775 0.0085 + jointType "fixed" + children [ + DEF rs_t265_link Segment { + } #Segment rs_t265_link + DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265 + name "rs_t265_fisheye1_optical_frame" + translation 0.0 0.032 0.0 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis + rotation 0.58051 -0.576581 -0.574946 2.08517 + type "MONO" + sensorId 9 + width 848 + height 800 + fieldOfView 2.84489 #163deg fisheye like + frameRate 30 + } #VisionSensor rs_t265 + ] } DEF HeadMainLight SpotLightDevice { translation 0.1005 0.035 0.05425 diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl index 541596ff..113886ae 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl @@ -451,41 +451,58 @@ DEF JAXON_JVRC Humanoid { fieldOfView 1.5708 sensorId 1 } - DEF l515 VisionSensor { # for l515 - name "l515" - translation 0.140 0.0 -0.015 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.357407 -0.357407 -0.862856 1.71777 - type "COLOR" - sensorId 7 - width 960 - height 540 - fieldOfView 0.750492 #43deg (70deg x 43deg) - frameRate 30 - } - DEF l515_DEPTH VisionSensor { # for l515 DEPTH - name "l515_DEPTH" - translation 0.140 0.0 -0.015 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.357407 -0.357407 -0.862856 1.71777 - type "COLOR_DEPTH" - sensorId 8 - width 640 - height 480 - fieldOfView 0.959931 #55deg (70deg x 55deg) - frameRate 30 + DEF rs_l515 Joint { + translation 0.140 0.0 -0.015 + rotation 0.0 1.0 0.0 0.785398 + jointType "fixed" + children [ + DEF rs_l515_link Segment { + } #Segment rs_l515_link + DEF rs_l515_color_optical_frame VisionSensor { # for l515 + name "rs_l515_color_optical_frame" + translation 0.004 -0.000 0.014 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis + rotation 0.582492 -0.58157 -0.567872 2.11931 + type "COLOR" + sensorId 7 + width 1920 + height 1080 + fieldOfView 0.750492 #43deg (70deg x 43deg) + frameRate 30 + } + DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH + name "rs_l515_depth_optical_frame" + translation 0.3 0.0 0.0 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis + rotation 0.57735 -0.57735 -0.57735 2.0944 + type "COLOR_DEPTH" + sensorId 8 + width 1024 + height 768 + fieldOfView 0.959931 #55deg (70deg x 55deg) + frameRate 30 + } + ] } - DEF t265 VisionSensor { # for t265 - name "t265" - translation 0.1459 0.0775 0.0085 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393 - type "MONO" - sensorId 9 - width 848 - height 800 - fieldOfView 2.84489 #163deg fisheye like - frameRate 30 + DEF rs_t265 Joint { + translation 0.1459 0.00775 0.0085 + jointType "fixed" + children [ + DEF rs_t265_link Segment { + } #Segment rs_t265_link + DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265 + name "rs_t265_fisheye1_optical_frame" + translation 0.0 0.032 0.0 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis + rotation 0.58051 -0.576581 -0.574946 2.08517 + type "MONO" + sensorId 9 + width 848 + height 800 + fieldOfView 2.84489 #163deg fisheye like + frameRate 30 + } #VisionSensor rs_t265 + ] } DEF HeadMainLight SpotLightDevice { translation 0.1005 0.035 0.05425 diff --git a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl index 66346fc4..fdf5032d 100644 --- a/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl +++ b/jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl @@ -490,41 +490,58 @@ DEF JAXON_JVRC Humanoid { fieldOfView 1.5708 sensorId 1 } - DEF l515 VisionSensor { # for l515 - name "l515" - translation 0.140 0.0 -0.015 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.357407 -0.357407 -0.862856 1.71777 - type "COLOR" - sensorId 7 - width 960 - height 540 - fieldOfView 0.750492 #43deg (70deg x 43deg) - frameRate 30 - } - DEF l515_DEPTH VisionSensor { # for l515 DEPTH - name "l515_DEPTH" - translation 0.140 0.0 -0.015 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.357407 -0.357407 -0.862856 1.71777 - type "COLOR_DEPTH" - sensorId 8 - width 640 - height 480 - fieldOfView 0.959931 #55deg (70deg x 55deg) - frameRate 30 + DEF rs_l515 Joint { + translation 0.140 0.0 -0.015 + rotation 0.0 1.0 0.0 0.785398 + jointType "fixed" + children [ + DEF rs_l515_link Segment { + } #Segment rs_l515_link + DEF rs_l515_color_optical_frame VisionSensor { # for l515 + name "rs_l515_color_optical_frame" + translation 0.004 -0.000 0.014 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis + rotation 0.582492 -0.58157 -0.567872 2.11931 + type "COLOR" + sensorId 7 + width 1920 + height 1080 + fieldOfView 0.750492 #43deg (70deg x 43deg) + frameRate 30 + } + DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH + name "rs_l515_depth_optical_frame" + translation 0.0 0.0 0.0 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis + rotation 0.57735 -0.57735 -0.57735 2.0944 + type "COLOR_DEPTH" + sensorId 8 + width 1024 + height 768 + fieldOfView 0.959931 #55deg (70deg x 55deg) + frameRate 30 + } + ] } - DEF t265 VisionSensor { # for t265 - name "t265" - translation 0.1459 0.0775 0.0085 - # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis - rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393 - type "MONO" - sensorId 9 - width 848 - height 800 - fieldOfView 2.84489 #163deg fisheye like - frameRate 30 + DEF rs_t265 Joint { + translation 0.1459 0.00775 0.0085 + jointType "fixed" + children [ + DEF rs_t265_link Segment { + } #Segment rs_t265_link + DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265 + name "rs_t265_fisheye1_optical_frame" + translation 0.0 0.032 0.0 + # Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis + rotation 0.58051 -0.576581 -0.574946 2.08517 + type "MONO" + sensorId 9 + width 848 + height 800 + fieldOfView 2.84489 #163deg fisheye like + frameRate 30 + } #VisionSensor rs_t265 + ] } DEF HeadMainLight SpotLightDevice { translation 0.1005 0.035 0.05425