From 8a44ac7f5decfc752a23deaac923340cedbedd25 Mon Sep 17 00:00:00 2001 From: mazafrav Date: Tue, 14 Mar 2017 10:43:37 +0100 Subject: [PATCH 1/2] Add files via upload From e278687cc08ec66fe16e769eb86ddd6fdc41b669 Mon Sep 17 00:00:00 2001 From: mazafrav Date: Tue, 14 Mar 2017 11:09:47 +0100 Subject: [PATCH 2/2] Add files via upload --- .../gazeboserver/worlds/AprilTagsFlat.world | 3061 ++++++++++++++--- .../tags_material/scripts/tags.material | 350 ++ .../tags_material/scripts/tags.material~ | 432 +++ .../tags_material/scripts/textures/README | 3 + .../scripts/textures/charuco_board.png | Bin 0 -> 78589 bytes .../scripts/textures/charuco_boardX.png | Bin 0 -> 10393 bytes .../scripts/textures/tag36_11_00000.png | Bin 224 -> 382 bytes .../scripts/textures/tag36_11_00001.png | Bin 329 -> 377 bytes .../scripts/textures/tag36_11_00002.png | Bin 334 -> 385 bytes .../scripts/textures/tag36_11_00003.png | Bin 332 -> 379 bytes .../scripts/textures/tag36_11_00004.png | Bin 330 -> 378 bytes .../scripts/textures/tag36_11_00005.png | Bin 333 -> 382 bytes .../scripts/textures/tag36_11_00006.png | Bin 326 -> 384 bytes .../scripts/textures/tag36_11_00007.png | Bin 316 -> 384 bytes .../scripts/textures/tag36_11_00008.png | Bin 334 -> 385 bytes .../scripts/textures/tag36_11_00009.png | Bin 322 -> 383 bytes .../scripts/textures/tag36_11_00010.png | Bin 325 -> 383 bytes .../scripts/textures/tag36_11_00011.png | Bin 328 -> 378 bytes .../scripts/textures/tag36_11_00012.png | Bin 346 -> 385 bytes .../scripts/textures/tag36_11_00013.png | Bin 351 -> 389 bytes .../scripts/textures/tag36_11_00014.png | Bin 346 -> 382 bytes .../scripts/textures/tag36_11_00015.png | Bin 341 -> 378 bytes .../scripts/textures/tag36_11_00016.png | Bin 347 -> 385 bytes .../scripts/textures/tag36_11_00017.png | Bin 345 -> 382 bytes .../scripts/textures/tag36_11_00018.png | Bin 350 -> 382 bytes .../scripts/textures/tag36_11_00019.png | Bin 352 -> 381 bytes .../scripts/textures/tag36_11_00020.png | Bin 349 -> 390 bytes .../scripts/textures/tag36_11_00021.png | Bin 355 -> 379 bytes .../scripts/textures/tag36_11_00022.png | Bin 352 -> 390 bytes .../scripts/textures/tag36_11_00023.png | Bin 0 -> 387 bytes .../scripts/textures/tag36_11_00024.png | Bin 0 -> 371 bytes .../scripts/textures/tag36_11_00025.png | Bin 0 -> 390 bytes .../scripts/textures/tag36_11_00026.png | Bin 0 -> 381 bytes .../scripts/textures/tag36_11_00027.png | Bin 0 -> 379 bytes .../scripts/textures/tag36_11_00028.png | Bin 0 -> 382 bytes .../scripts/textures/tag36_11_00029.png | Bin 0 -> 375 bytes .../scripts/textures/tag36_11_00030.png | Bin 0 -> 382 bytes .../scripts/textures/tag36_11_00031.png | Bin 0 -> 389 bytes .../scripts/textures/tag36_11_00032.png | Bin 0 -> 382 bytes .../scripts/textures/tag36_11_00033.png | Bin 0 -> 383 bytes .../scripts/textures/tag36_11_00034.png | Bin 0 -> 388 bytes .../scripts/textures/tag36_11_00035.png | Bin 0 -> 379 bytes 42 files changed, 3382 insertions(+), 464 deletions(-) create mode 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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 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/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. 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