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Commit 86335da9 authored by Fernando Herrero's avatar Fernando Herrero
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Switched ceiling panel from purple to yellow

Commented camera distortion coefficients
parent b568391f
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...@@ -3,9 +3,11 @@ ...@@ -3,9 +3,11 @@
(2, 102, 2) 0.000000 10 GreenRectangle (2, 102, 2) 0.000000 10 GreenRectangle
(2, 2, 102) 0.000000 10 BlueRectangle (2, 2, 102) 0.000000 10 BlueRectangle
(106, 1, 104) 0.000000 10 PurpleRectangle (106, 1, 104) 0.000000 10 PurpleRectangle
(100, 100, 0) 0.000000 10 YellowRectangle
[thresholds] [thresholds]
(20:42, 100:122, 167:189) (20:42, 100:122, 167:189)
(50:70, 84:104, 76:96) (50:70, 84:104, 76:96)
(0:20, 168:188, 109:129) (0:20, 168:188, 109:129)
(34:54, 151:171, 162:182) (34:54, 151:171, 162:182)
(78:98, 68:88, 126:146)
\ No newline at end of file
...@@ -30,10 +30,10 @@ ...@@ -30,10 +30,10 @@
<origin xyz="-5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${pan}"/> <origin xyz="-5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${pan}"/>
</xacro:panel> </xacro:panel>
<xacro:panel name="panel_purple" <xacro:panel name="panel_yellow"
parent="$(arg parent)" parent="$(arg parent)"
gazebo_material="Gazebo/Purple" gazebo_material="Gazebo/Yellow"
urdf_color="purple"> urdf_color="yellow">
<origin xyz="-5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${-pan}"/> <origin xyz="-5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${-pan}"/>
</xacro:panel> </xacro:panel>
......
...@@ -28,8 +28,9 @@ ...@@ -28,8 +28,9 @@
</depth_camera> </depth_camera>
<clip> <clip>
<near>0.2</near> <near>0.2</near>
<far>15.0</far> <far>50.0</far>
</clip> </clip>
<!--
<distortion> <distortion>
<k1>-0.25</k1> <k1>-0.25</k1>
<k2>0.12</k2> <k2>0.12</k2>
...@@ -37,6 +38,7 @@ ...@@ -37,6 +38,7 @@
<p1>-0.00028</p1> <p1>-0.00028</p1>
<p2>-0.00005</p2> <p2>-0.00005</p2>
</distortion> </distortion>
-->
<noise> <noise>
<type>gaussian</type> <type>gaussian</type>
<mean>0.0</mean> <mean>0.0</mean>
......
...@@ -25,15 +25,17 @@ ...@@ -25,15 +25,17 @@
</image> </image>
<clip> <clip>
<near>0.02</near> <near>0.02</near>
<far>300</far> <far>50</far>
</clip> </clip>
<!--
<distortion> <distortion>
<k1>-0.25</k1> <k1>-0.3</k1>
<k2>0.12</k2> <k2>0.1</k2>
<k3>0.0</k3> <k3>-0.0002</k3>
<p1>-0.00028</p1> <p1>-0.00028</p1>
<p2>-0.00005</p2> <p2>-0.00005</p2>
</distortion> </distortion>
-->
<noise> <noise>
<type>gaussian</type> <type>gaussian</type>
<mean>0.0</mean> <mean>0.0</mean>
......
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