sensor docs

MRPT · Aug 30, 2023 · 02a6112 · 02a6112
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commit 02a6112
Showing 1 changed file with 180 additions and 2 deletions.
diff --git a/docs/sensors.rst b/docs/sensors.rst
@@ -3,11 +3,189 @@ Sensors
 
 This page describes the predefined sensors and their parameters.
 
+.. contents:: List of sensors
+   :depth: 1
+   :local:
+   :backlinks: none
+
+3D LIDAR
+------------------
+
+Due to the very specific details of LIDAR models which needs to be accounted for
+an accurate simulation of real commercial devices, MVSim provides ready-to-use
+XML "includes" for some common models:
+
+HELIOS 32 (26 deg FOV)
+##########################
+
+.. dropdown:: To use in your robot, copy and paste this inside a ``<vehicle>`` or ``<vehicle:class>`` tag.
+   :open:
+
+   .. code-block:: xml
+
+		<include file="definitions/helios-32-FOV-26.sensor.xml"
+		  sensor_x="0.10" sensor_z="0.30"
+		  sensor_std_noise="0.005"
+		  sensor_name="lidar1"
+		  sensor_rate="10.0"
+		/>
+
+.. dropdown:: Include file helios-32-FOV-26.sensor.xml
+
+   File: `mvsim_tutorial/definitions/helios-32-FOV-26.sensor.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/definitions/helios-32-FOV-26.sensor.xml>`_
+
+   .. literalinclude:: ../mvsim_tutorial/definitions/helios-32-FOV-26.sensor.xml
+      :language: xml
+
+
+HELIOS 32 (31 deg FOV)
+##########################
+
+.. dropdown:: To use in your robot, copy and paste this inside a ``<vehicle>`` or ``<vehicle:class>`` tag.
+   :open:
+
+   .. code-block:: xml
+
+		<include file="definitions/helios-32-FOV-31.sensor.xml"
+		  sensor_x="0.10" sensor_z="0.30"
+		  sensor_std_noise="0.005"
+		  sensor_name="lidar1"
+		  sensor_rate="10.0"
+		/>
+
+
+.. dropdown:: Include file helios-32-FOV-31.sensor.xml
+
+   File: `mvsim_tutorial/definitions/helios-32-FOV-31.sensor.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/definitions/helios-32-FOV-31.sensor.xml>`_
+
+   .. literalinclude:: ../mvsim_tutorial/definitions/helios-32-FOV-31.sensor.xml
+      :language: xml
+
+
+HELIOS 32 (70 deg FOV)
+##########################
+
+.. dropdown:: To use in your robot, copy and paste this inside a ``<vehicle>`` or ``<vehicle:class>`` tag.
+   :open:
+
+   .. code-block:: xml
+
+		<include file="definitions/helios-32-FOV-70.sensor.xml"
+		  sensor_x="0.10" sensor_z="0.30"
+		  sensor_std_noise="0.005"
+		  sensor_name="lidar1"
+		  sensor_rate="10.0"
+		/>
+
+.. dropdown:: Include file helios-32-FOV-70.sensor.xml
+
+   File: `mvsim_tutorial/definitions/helios-32-FOV-70.sensor.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/definitions/helios-32-FOV-70.sensor.xml>`_
+
+   .. literalinclude:: ../mvsim_tutorial/definitions/helios-32-FOV-70.sensor.xml
+      :language: xml
+
+
+OUSTER OS1
+##########################
+
+.. dropdown:: To use in your robot, copy and paste this inside a ``<vehicle>`` or ``<vehicle:class>`` tag.
+   :open:
+
+   .. code-block:: xml
+
+		<include file="definitions/ouster-os1.sensor"
+		  sensor_x="0.10" sensor_z="0.30"
+		  sensor_std_noise="0.005"
+		  sensor_name="lidar1"
+		  sensor_period_sec="0.10"
+		/>
+
+.. dropdown:: Include file ouster-os1.sensor.xml
+
+   File: `mvsim_tutorial/definitions/ouster-os1.sensor.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/definitions/ouster-os1.sensor.xml>`_
+
+   .. literalinclude:: ../mvsim_tutorial/definitions/ouster-os1.sensor.xml
+      :language: xml
+
+
+
+Velodyne VLP-16
+##########################
+
+.. dropdown:: To use in your robot, copy and paste this inside a ``<vehicle>`` or ``<vehicle:class>`` tag.
+   :open:
+
+   .. code-block:: xml
+
+		<include file="definitions/velodyne-vlp16.sensor"
+		  sensor_x="0.10" sensor_z="0.30"
+		  sensor_std_noise="0.005"
+		  sensor_name="lidar1"
+		  sensor_rpm="600"
+		/>
+
+.. dropdown:: Include file velodyne-vlp16.sensor.xml
+
+   File: `mvsim_tutorial/definitions/velodyne-vlp16.sensor.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/definitions/velodyne-vlp16.sensor.xml>`_
+
+   .. literalinclude:: ../mvsim_tutorial/definitions/velodyne-vlp16.sensor.xml
+      :language: xml
+
+
+RGB camera
+------------------
+
+A regular RGB (color) pin-hole camera (without lens distortion at present).
+The user must provide the camera intrinsic and extrinsic parameters:
+
+.. dropdown:: To use in your robot, copy and paste this inside a ``<vehicle>`` or ``<vehicle:class>`` tag.
+   :open:
+
+   .. code-block:: xml
+
+		<include file="definitions/camera.sensor.xml"
+			sensor_x="0.1" sensor_y="0.0" sensor_z="0.8"
+			ncols="800"    nrows="600"
+			cx="$f{800/2}" cy="$f{600/2}"
+			fx="800" fy="800"
+			sensor_period_sec="$f{1/20.0}"
+			clip_min="0.02" clip_max="300"
+			sensor_visual_scale="0.2"
+		/>
+
+.. dropdown:: Include file camera.sensor.xml
+
+   File: `mvsim_tutorial/definitions/camera.sensor.xml <https://github.com/MRPT/mvsim/blob/develop/mvsim_tutorial/definitions/camera.sensor.xml>`_
+
+   .. literalinclude:: ../mvsim_tutorial/definitions/camera.sensor.xml
+      :language: xml
+
+
+IMU
+------------------
+
+Write me!
+
+
+2D laser scanner
+------------------
+
+Write me!
+
+
+Depth (RGBD) camera
+---------------------
+
+Write me!
+
+
+Generic definitions for all sensors
+-----------------------------------------
+
 Sensors are defined with **<sensor>** tag. It has attributes *type* and
 *name*.
 
-At the moment, only laser scanner sensor is implemented, its type is
-*laser*. Subtags are:
+2D Lidar sensor: its type is *laser*. Subtags are:
 
 -  **<pose>** - an MRPT CPose3D string value