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Naoki-HiraokaNaoki-Hiraoka
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[jaxon_jvrc/JAXON_JVRC] fix t265, l515 camera
1 parent 2842b63 commit 985972d

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3 files changed

+153
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‎jvrc_models/JAXON_JVRC/JAXON_JVRCmain.wrl‎

Lines changed: 51 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -451,41 +451,58 @@ DEF JAXON_JVRC Humanoid {
451451
fieldOfView 1.5708
452452
sensorId 1
453453
}
454-
DEF l515 VisionSensor { # for l515
455-
name "l515"
456-
translation 0.140 0.0 -0.015
457-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
458-
rotation 0.357407 -0.357407 -0.862856 1.71777
459-
type "COLOR"
460-
sensorId 7
461-
width 960
462-
height 540
463-
fieldOfView 0.750492 #43deg (70deg x 43deg)
464-
frameRate 30
465-
}
466-
DEF l515_DEPTH VisionSensor { # for l515 DEPTH
467-
name "l515_DEPTH"
468-
translation 0.140 0.0 -0.015
469-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
470-
rotation 0.357407 -0.357407 -0.862856 1.71777
471-
type "COLOR_DEPTH"
472-
sensorId 8
473-
width 640
474-
height 480
475-
fieldOfView 0.959931 #55deg (70deg x 55deg)
476-
frameRate 30
454+
DEF rs_l515 Joint {
455+
translation 0.140 0.0 -0.015
456+
rotation 0.0 1.0 0.0 0.785398
457+
jointType "fixed"
458+
children [
459+
DEF rs_l515_link Segment {
460+
} #Segment rs_l515_link
461+
DEF rs_l515_color_optical_frame VisionSensor { # for l515
462+
name "rs_l515_color_optical_frame"
463+
translation 0.004 -0.000 0.014
464+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
465+
rotation 0.582492 -0.58157 -0.567872 2.11931
466+
type "COLOR"
467+
sensorId 7
468+
width 1920
469+
height 1080
470+
fieldOfView 0.750492 #43deg (70deg x 43deg)
471+
frameRate 30
472+
}
473+
DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
474+
name "rs_l515_depth_optical_frame"
475+
translation 0.0 0.0 0.0
476+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
477+
rotation 0.57735 -0.57735 -0.57735 2.0944
478+
type "COLOR_DEPTH"
479+
sensorId 8
480+
width 1024
481+
height 768
482+
fieldOfView 0.959931 #55deg (70deg x 55deg)
483+
frameRate 30
484+
}
485+
]
477486
}
478-
DEF t265 VisionSensor { # for t265
479-
name "t265"
480-
translation 0.1459 0.0775 0.0085
481-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
482-
rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393
483-
type "MONO"
484-
sensorId 9
485-
width 848
486-
height 800
487-
fieldOfView 2.84489 #163deg fisheye like
488-
frameRate 30
487+
DEF rs_t265 Joint {
488+
translation 0.1459 0.00775 0.0085
489+
jointType "fixed"
490+
children [
491+
DEF rs_t265_link Segment {
492+
} #Segment rs_t265_link
493+
DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
494+
name "rs_t265_fisheye1_optical_frame"
495+
translation 0.0 0.032 0.0
496+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
497+
rotation 0.58051 -0.576581 -0.574946 2.08517
498+
type "MONO"
499+
sensorId 9
500+
width 848
501+
height 800
502+
fieldOfView 2.84489 #163deg fisheye like
503+
frameRate 30
504+
} #VisionSensor rs_t265
505+
]
489506
}
490507
DEF HeadMainLight SpotLightDevice {
491508
translation 0.1005 0.035 0.05425

‎jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys.wrl‎

Lines changed: 51 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -451,41 +451,58 @@ DEF JAXON_JVRC Humanoid {
451451
fieldOfView 1.5708
452452
sensorId 1
453453
}
454-
DEF l515 VisionSensor { # for l515
455-
name "l515"
456-
translation 0.140 0.0 -0.015
457-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
458-
rotation 0.357407 -0.357407 -0.862856 1.71777
459-
type "COLOR"
460-
sensorId 7
461-
width 960
462-
height 540
463-
fieldOfView 0.750492 #43deg (70deg x 43deg)
464-
frameRate 30
465-
}
466-
DEF l515_DEPTH VisionSensor { # for l515 DEPTH
467-
name "l515_DEPTH"
468-
translation 0.140 0.0 -0.015
469-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
470-
rotation 0.357407 -0.357407 -0.862856 1.71777
471-
type "COLOR_DEPTH"
472-
sensorId 8
473-
width 640
474-
height 480
475-
fieldOfView 0.959931 #55deg (70deg x 55deg)
476-
frameRate 30
454+
DEF rs_l515 Joint {
455+
translation 0.140 0.0 -0.015
456+
rotation 0.0 1.0 0.0 0.785398
457+
jointType "fixed"
458+
children [
459+
DEF rs_l515_link Segment {
460+
} #Segment rs_l515_link
461+
DEF rs_l515_color_optical_frame VisionSensor { # for l515
462+
name "rs_l515_color_optical_frame"
463+
translation 0.004 -0.000 0.014
464+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
465+
rotation 0.582492 -0.58157 -0.567872 2.11931
466+
type "COLOR"
467+
sensorId 7
468+
width 1920
469+
height 1080
470+
fieldOfView 0.750492 #43deg (70deg x 43deg)
471+
frameRate 30
472+
}
473+
DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
474+
name "rs_l515_depth_optical_frame"
475+
translation 0.0 0.0 0.0
476+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
477+
rotation 0.57735 -0.57735 -0.57735 2.0944
478+
type "COLOR_DEPTH"
479+
sensorId 8
480+
width 1024
481+
height 768
482+
fieldOfView 0.959931 #55deg (70deg x 55deg)
483+
frameRate 30
484+
}
485+
]
477486
}
478-
DEF t265 VisionSensor { # for t265
479-
name "t265"
480-
translation 0.1459 0.0775 0.0085
481-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
482-
rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393
483-
type "MONO"
484-
sensorId 9
485-
width 848
486-
height 800
487-
fieldOfView 2.84489 #163deg fisheye like
488-
frameRate 30
487+
DEF rs_t265 Joint {
488+
translation 0.1459 0.00775 0.0085
489+
jointType "fixed"
490+
children [
491+
DEF rs_t265_link Segment {
492+
} #Segment rs_t265_link
493+
DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
494+
name "rs_t265_fisheye1_optical_frame"
495+
translation 0.0 0.032 0.0
496+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
497+
rotation 0.58051 -0.576581 -0.574946 2.08517
498+
type "MONO"
499+
sensorId 9
500+
width 848
501+
height 800
502+
fieldOfView 2.84489 #163deg fisheye like
503+
frameRate 30
504+
} #VisionSensor rs_t265
505+
]
489506
}
490507
DEF HeadMainLight SpotLightDevice {
491508
translation 0.1005 0.035 0.05425

‎jvrc_models/JAXON_JVRC/JAXON_JVRCmain_hrpsys_bush.wrl‎

Lines changed: 51 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -490,41 +490,58 @@ DEF JAXON_JVRC Humanoid {
490490
fieldOfView 1.5708
491491
sensorId 1
492492
}
493-
DEF l515 VisionSensor { # for l515
494-
name "l515"
495-
translation 0.140 0.0 -0.015
496-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
497-
rotation 0.357407 -0.357407 -0.862856 1.71777
498-
type "COLOR"
499-
sensorId 7
500-
width 960
501-
height 540
502-
fieldOfView 0.750492 #43deg (70deg x 43deg)
503-
frameRate 30
504-
}
505-
DEF l515_DEPTH VisionSensor { # for l515 DEPTH
506-
name "l515_DEPTH"
507-
translation 0.140 0.0 -0.015
508-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
509-
rotation 0.357407 -0.357407 -0.862856 1.71777
510-
type "COLOR_DEPTH"
511-
sensorId 8
512-
width 640
513-
height 480
514-
fieldOfView 0.959931 #55deg (70deg x 55deg)
515-
frameRate 30
493+
DEF rs_l515 Joint {
494+
translation 0.140 0.0 -0.015
495+
rotation 0.0 1.0 0.0 0.785398
496+
jointType "fixed"
497+
children [
498+
DEF rs_l515_link Segment {
499+
} #Segment rs_l515_link
500+
DEF rs_l515_color_optical_frame VisionSensor { # for l515
501+
name "rs_l515_color_optical_frame"
502+
translation 0.004 -0.000 0.014
503+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
504+
rotation 0.582492 -0.58157 -0.567872 2.11931
505+
type "COLOR"
506+
sensorId 7
507+
width 1920
508+
height 1080
509+
fieldOfView 0.750492 #43deg (70deg x 43deg)
510+
frameRate 30
511+
}
512+
DEF rs_l515_depth_optical_frame VisionSensor { # for l515 DEPTH
513+
name "rs_l515_depth_optical_frame"
514+
translation 0.0 0.0 0.0
515+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
516+
rotation 0.57735 -0.57735 -0.57735 2.0944
517+
type "COLOR_DEPTH"
518+
sensorId 8
519+
width 1024
520+
height 768
521+
fieldOfView 0.959931 #55deg (70deg x 55deg)
522+
frameRate 30
523+
}
524+
]
516525
}
517-
DEF t265 VisionSensor { # for t265
518-
name "t265"
519-
translation 0.1459 0.0775 0.0085
520-
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equals to ROS camera Z axis
521-
rotation 0.57735026919 -0.57735026919 -0.57735026919 2.094395102393
522-
type "MONO"
523-
sensorId 9
524-
width 848
525-
height 800
526-
fieldOfView 2.84489 #163deg fisheye like
527-
frameRate 30
526+
DEF rs_t265 Joint {
527+
translation 0.1459 0.00775 0.0085
528+
jointType "fixed"
529+
children [
530+
DEF rs_t265_link Segment {
531+
} #Segment rs_t265_link
532+
DEF rs_t265_fisheye1_optical_frame VisionSensor { # for t265
533+
name "rs_t265_fisheye1_optical_frame"
534+
translation 0.0 0.032 0.0
535+
# Rotate 180[deg] around X axis because OpenHRP3 camera -Z axis equalsto ROS camera Z axis
536+
rotation 0.58051 -0.576581 -0.574946 2.08517
537+
type "MONO"
538+
sensorId 9
539+
width 848
540+
height 800
541+
fieldOfView 2.84489 #163deg fisheye like
542+
frameRate 30
543+
} #VisionSensor rs_t265
544+
]
528545
}
529546
DEF HeadMainLight SpotLightDevice {
530547
translation 0.1005 0.035 0.05425

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