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-1.23 -6 3 0 -0 0 + + + -4 -2 10 0 -0 0 + - 0.126197 6.13852 18.8314 0 1.08764 -2.14299 + -12.3776 -1.84332 10.8259 0 0.915641 -0.086983 orbit + perspective + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + diff --git a/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material b/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material index 16b8479d5..7927e2929 100644 --- a/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material +++ b/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material @@ -1,3 +1,6 @@ +#NOTE: AprilTags images in the 'textures' folder are rotated 90º anticlockwise (except boards) +#so the textures are loaded with the correct orientation + material Tag36_11_00000 { receive_shadows off @@ -269,3 +272,350 @@ material Tag36_11_00015 } } } + +material Tag36_11_00016 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00016.png + } + } + } +} + +material Tag36_11_00017 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00017.png + } + } + } +} + +material Tag36_11_00018 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00018.png + } + } + } +} + +material Tag36_11_00019 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00019.png + } + } + } +} + +material Tag36_11_00020 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00020.png + } + } + } +} + +material Tag36_11_00021 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00021.png + } + } + } +} + +material Tag36_11_00022 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00022.png + } + } + } +} + +material Tag36_11_00023 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00023.png + } + } + } +} +material Tag36_11_00024 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00024.png + } + } + } +} +material Tag36_11_00025 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00025.png + } + } + } +} +material Tag36_11_00026 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00026.png + } + } + } +} +material Tag36_11_00027 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00027.png + } + } + } +} +material Tag36_11_00028 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00028.png + } + } + } +} +material Tag36_11_00029 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00029.png + } + } + } +} +material Tag36_11_00030 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00030.png + } + } + } +} +material Tag36_11_00031 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00031.png + } + } + } +} +material Tag36_11_00032 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00032.png + } + } + } +} +material Tag36_11_00033 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00033.png + } + } + } +} +material Tag36_11_00034 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00034.png + } + } + } +} + +material Tag36_11_00035 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00035.png + } + } + } +} + + +material charuco_board +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/charuco_board.png + } + } + } +} diff --git a/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material~ b/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material~ index 6c6b1ad29..293112404 100644 --- a/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material~ +++ b/src/drivers/gazeboserver/worlds/tags_material/scripts/tags.material~ @@ -184,3 +184,435 @@ material Tag36_11_00010 } } } + +material Tag36_11_00011 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00011.png + } + } + } +} + +material Tag36_11_00012 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00012.png + } + } + } +} + +material Tag36_11_00013 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00013.png + } + } + } +} + +material Tag36_11_00014 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00014.png + } + } + } +} + +material Tag36_11_00015 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00015.png + } + } + } +} + +material Tag36_11_00016 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00016.png + } + } + } +} + +material Tag36_11_00017 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00017.png + } + } + } +} + +material Tag36_11_00018 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00018.png + } + } + } +} + +material Tag36_11_00019 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00019.png + } + } + } +} + +material Tag36_11_00020 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00020.png + } + } + } +} + +material Tag36_11_00021 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture 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technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00027.png + } + } + } +} +material Tag36_11_00028 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00028.png + } + } + } +} +material Tag36_11_00029 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00029.png + } + } + } +} +material Tag36_11_00030 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00030.png + } + } + } +} +material Tag36_11_00031 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00031.png + } + } + } +} +material Tag36_11_00032 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00032.png + } + } + } +} +material Tag36_11_00033 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00033.png + } + } + } +} +material Tag36_11_00034 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00034.png + } + } + } +} + +material Tag36_11_00035 +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/tag36_11_00035.png + } + } + } +} + + +material chAruco_board +{ + receive_shadows on + + technique + { + pass + { + ambient 0.5 0.5 0.5 1.00000 + texture_unit + { + texture textures/charuco_board.png + } + } + } +} diff --git a/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/README b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/README new file mode 100644 index 000000000..e452224ef --- /dev/null +++ b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/README @@ -0,0 +1,3 @@ +The images are rotated 90º anticlockwise from the original position so the textures +in Gazebo are loaded with the correct orientation. Keep this in mind if you are going +to use AprilTags markers images in this folder for any other purpose than Gazebo simulation. diff --git a/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/charuco_board.png b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/charuco_board.png new file mode 100644 index 000000000..849a39704 Binary files /dev/null and b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/charuco_board.png differ diff --git a/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/charuco_boardX.png b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/charuco_boardX.png new file mode 100644 index 000000000..947a94cb5 Binary files /dev/null and b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/charuco_boardX.png differ diff --git a/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/tag36_11_00000.png b/src/drivers/gazeboserver/worlds/tags_material/scripts/textures/tag36_11_00000.png index 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