From e41f701555a7837bd15048251505de74b988cced Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 29 Sep 2023 14:49:21 -0700
Subject: [PATCH] Add a wide angle camera with lens flare plugin (#7)

---------

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 harmonic_demo/harmonic.sdf | 38 +++++++++++++++++++++++++++++++-------
 1 file changed, 31 insertions(+), 7 deletions(-)

diff --git a/harmonic_demo/harmonic.sdf b/harmonic_demo/harmonic.sdf
index 0604d21..52562be 100644
--- a/harmonic_demo/harmonic.sdf
+++ b/harmonic_demo/harmonic.sdf
@@ -500,11 +500,11 @@
       <uri>CartPole</uri>
     </include>
 
-    <model name="camera">
+    <!-- wide-angle camera model with lens flare plugin -->
+    <model name="wide_angle_camera_lensflare">
       <static>true</static>
-      <pose>-9 -7.5 15 0.0, 0.4, 1.38</pose>
+      <pose>1.08 4.54 8.56 0.0 0.0 1.57</pose>
       <link name="link">
-        <pose>0.05 0.05 0.05 0 0 0</pose>
         <visual name="visual">
           <geometry>
             <box>
@@ -512,23 +512,47 @@
             </box>
           </geometry>
         </visual>
-        <sensor name="camera" type="camera">
+        <visual name="center">
+          <pose>0.02 0 0 0.0 1.57 0</pose>
+          <geometry>
+            <sphere>
+              <radius>0.04</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <diffuse>0.2 0.2 0.2</diffuse>
+          </material>
+        </visual>
+        <sensor name="wide_angle_camera" type="wideanglecamera">
           <camera>
-            <horizontal_fov>1.57</horizontal_fov>
+            <horizontal_fov>3.14159</horizontal_fov>
             <image>
-              <width>320</width>
-              <height>240</height>
+              <width>640</width>
+              <height>480</height>
             </image>
             <clip>
               <near>0.1</near>
               <far>100</far>
             </clip>
+            <lens>
+              <type>equidistant</type>
+              <scale_to_hfov>true</scale_to_hfov>
+              <cutoff_angle>1.5707</cutoff_angle>
+              <env_texture_size>512</env_texture_size>
+            </lens>
           </camera>
           <always_on>1</always_on>
           <update_rate>30</update_rate>
           <visualize>true</visualize>
+          <topic>wide_angle_camera</topic>
+          <plugin
+              filename="gz-sim-lens-flare-system"
+              name="gz::sim::systems::LensFlare">
+            <light_name>sun</light_name>
+          </plugin>
         </sensor>
       </link>
     </model>
+
   </world>
 </sdf>