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[jaxon_jvrc/JAXON_JVRC] fix t265, l515 camera
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@Naoki-Hiraoka
Naoki-Hiraoka committed Dec 6, 2021
1 parent 2842b63 commit b33b263
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Showing 3 changed files with 153 additions and 102 deletions.
85 changes: 51 additions & 34 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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85 changes: 51 additions & 34 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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85 changes: 51 additions & 34 deletions jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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
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