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iche033 committed May 19, 2023
2 parents bb85d05 + 3c4e8c8 commit c5703ef
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274 changes: 274 additions & 0 deletions examples/worlds/projector.sdf
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<?xml version="1.0" ?>
<!--
Demo world featuring a model with a projector. The model has 3 sensors:
* IR camera left (grayscale)
* IR camera right (grayscale)
* RGB camera (color)
and a projector that projects out a pattern that is only visible to the
left and right IR cameras.
-->
<sdf version="1.7">
<world name="projector">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>

<scene>
<ambient>1.0 1.0 1.0</ambient>
<background>0.8 0.8 0.8</background>
<grid>true</grid>
</scene>

<gui fullscreen="0">

<!-- 3D scene -->
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>
<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>

</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
<title>IR Camera Left</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
</gz-gui>
<topic>IR_camera_left</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 2">
<gz-gui>
<title>IR Camera Right</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="x">500</property>
</gz-gui>
<topic>IR_camera_right</topic>
<topic_picker>false</topic_picker>
</plugin>
<plugin filename="ImageDisplay" name="Image Display 3">
<gz-gui>
<title>RGB Camera</title>
<property key="state" type="string">floating</property>
<property type="double" key="width">350</property>
<property type="double" key="height">315</property>
<property type="double" key="y">320</property>
</gz-gui>
<topic>RGB_camera</topic>
<topic_picker>false</topic_picker>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>
</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<include>
<pose>0 0 5 0.0 1.57 0</pose>
<uri>
https://fuel.gazebosim.org/1.0/OpenRobotics/models/Camera with Projector
</uri>
</include>

<model name="box">
<pose>0 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

</world>
</sdf>
38 changes: 38 additions & 0 deletions include/gz/sim/Conversions.hh
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Expand Up @@ -54,6 +54,7 @@
#include <sdf/ParticleEmitter.hh>
#include <sdf/Plugin.hh>
#include <sdf/Physics.hh>
#include <sdf/Projector.hh>
#include <sdf/Scene.hh>
#include <sdf/Sensor.hh>

Expand Down Expand Up @@ -714,6 +715,43 @@ namespace gz
template<>
sdf::ParticleEmitter convert(const msgs::ParticleEmitter &_in);

/// \brief Generic conversion from a projector SDF object to another
/// type.
/// \param[in] _in Projector SDF object.
/// \return Conversion result.
/// \tparam Out Output type.
template<class Out>
Out convert(const sdf::Projector &/*_in*/)
{
Out::ConversionNotImplemented;
}

/// \brief Specialized conversion from a projector SDF object to
/// a projector message object.
/// \param[in] _in Projector SDF object.
/// \return Projector message.
template<>
msgs::Projector convert(const sdf::Projector &_in);

/// \brief Generic conversion from a projector SDF object to another
/// type.
/// \param[in] _in Projector SDF object.
/// \return Conversion result.
/// \tparam Out Output type.
template<class Out>
Out convert(const msgs::Projector &/*_in*/)
{
Out::ConversionNotImplemented;
}

/// \brief Specialized conversion from a projector SDF object to
/// a projector message object.
/// \param[in] _in Projecotr SDF object.
/// \return Projector message.
template<>
sdf::Projector convert(const msgs::Projector &_in);


/// \brief Generic conversion from an SDF element to another type.
/// \param[in] _in SDF element.
/// \return Conversion result.
Expand Down
7 changes: 7 additions & 0 deletions include/gz/sim/SdfEntityCreator.hh
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Expand Up @@ -28,6 +28,7 @@
#include <sdf/Model.hh>
#include <sdf/ParticleEmitter.hh>
#include <sdf/Physics.hh>
#include <sdf/Projector.hh>
#include <sdf/Sensor.hh>
#include <sdf/Visual.hh>
#include <sdf/World.hh>
Expand Down Expand Up @@ -155,6 +156,12 @@ namespace gz
/// \sa CreateEntities(const sdf::Link *)
public: Entity CreateEntities(const sdf::ParticleEmitter *_emitter);

/// \brief Create all entities that exist in the
/// sdf::Projector object.
/// \param[in] _projector SDF Projector object.
/// \return Projector entity.
public: Entity CreateEntities(const sdf::Projector *_projector);

/// \brief Request an entity deletion. This will insert the request
/// into a queue. The queue is processed toward the end of a simulation
/// update step.
Expand Down
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