├── meshes
    ├── aruco100.jpg
    ├── aruco101.jpg
    ├── aruco102.jpg
    ├── aruco103.jpg
    ├── aruco104.jpg
    ├── aruco104.png
    ├── aruco105.jpg
    ├── aruco106.jpg
    ├── aruco107.jpg
    ├── aruco108.jpg
    ├── aruco109.jpg
    ├── aruco110.jpg
    ├── aruco111.jpg
    ├── aruco112.jpg
    ├── aruco113.jpg
    ├── aruco114.jpg
    ├── aruco115.jpg
    ├── aruco116.jpg
    ├── aruco117.jpg
    ├── aruco118.jpg
    ├── aruco119.jpg
    ├── aruco120.jpg
    ├── aruco3.png
    ├── aruco3.dae
    ├── aruco100.dae
    ├── aruco101.dae
    ├── aruco102.dae
    ├── aruco103.dae
    ├── aruco104.dae
    ├── aruco105.dae
    ├── aruco106.dae
    ├── aruco107.dae
    ├── aruco108.dae
    ├── aruco109.dae
    ├── aruco110.dae
    ├── aruco111.dae
    ├── aruco112.dae
    └── aruco113.dae
├── bag
    └── thor_mocap_new.bag
├── README.md
├── TODO.txt
├── params
    ├── aruco_100.yaml
    ├── aruco_101.yaml
    ├── aruco_102.yaml
    ├── aruco_103.yaml
    ├── aruco_104.yaml
    ├── aruco_105.yaml
    └── aruco_all.yaml
├── launch
    ├── flight_bag.launch
    ├── cave.launch
    ├── two_mav_spawn.launch
    └── cave_aruco.launch
├── .gitignore
├── package.xml
├── plugins
    └── camera.xacro
├── agents
    ├── slammer
    │   ├── slammer.xacro
    │   └── slammer.yaml
    └── aruco
    │   └── aruco_only.xacro
├── src
    ├── rosbag_data_loader.py
    ├── ekf_slam.py
    └── aruco_measure.py
└── CMakeLists.txt


/meshes/aruco100.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco100.jpg


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/meshes/aruco101.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco101.jpg


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/meshes/aruco102.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco102.jpg


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/meshes/aruco103.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco103.jpg


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/meshes/aruco104.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco104.jpg


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/meshes/aruco104.png:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco104.png


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/meshes/aruco105.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco105.jpg


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/meshes/aruco106.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco106.jpg


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/meshes/aruco107.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco107.jpg


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/meshes/aruco108.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco108.jpg


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/meshes/aruco109.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco109.jpg


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/meshes/aruco110.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco110.jpg


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/meshes/aruco111.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco111.jpg


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/meshes/aruco112.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco112.jpg


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/meshes/aruco113.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco113.jpg


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/meshes/aruco114.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco114.jpg


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/meshes/aruco115.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco115.jpg


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/meshes/aruco116.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco116.jpg


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/meshes/aruco117.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco117.jpg


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/meshes/aruco118.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco118.jpg


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/meshes/aruco119.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco119.jpg


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/meshes/aruco120.jpg:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco120.jpg


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/meshes/aruco3.png:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/meshes/aruco3.png


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/bag/thor_mocap_new.bag:
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https://raw.githubusercontent.com/mmmfarrell/EKF-SLAM/HEAD/bag/thor_mocap_new.bag


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/README.md:
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1 | # EKF-SLAM
2 | An EKF SLAM implementation for a multi rotor UAV in an environment with ArUCo tags
3 | 


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/TODO.txt:
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1 | TODO
2 | 
3 | - Convert EKF Localization to EKF SLAM
4 | - Look into A Matrix for propogation Sigma
5 | - Change 2D Bearing to a 3D bearing (2 angles?)
6 | - Add additional sensors (i.e. baro/sonar)
7 | - Figure out how to do it without true U, V, W
8 | 


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/params/aruco_100.yaml:
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1 | %YAML:1.0
2 | ---
3 | aruco_bc_dict: ARUCO_MIP_36h12
4 | aruco_bc_nmarkers: 1
5 | aruco_bc_mInfoType: 0
6 | aruco_bc_markers:
7 |    - { id:100, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
8 |        -250., 0. ], [ -250., -250., 0. ] ] }
9 | 


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/params/aruco_101.yaml:
--------------------------------------------------------------------------------
1 | %YAML:1.0
2 | ---
3 | aruco_bc_dict: ARUCO_MIP_36h12
4 | aruco_bc_nmarkers: 1
5 | aruco_bc_mInfoType: 0
6 | aruco_bc_markers:
7 |    - { id:101, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
8 |        -250., 0. ], [ -250., -250., 0. ] ] }
9 | 


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/params/aruco_102.yaml:
--------------------------------------------------------------------------------
1 | %YAML:1.0
2 | ---
3 | aruco_bc_dict: ARUCO_MIP_36h12
4 | aruco_bc_nmarkers: 1
5 | aruco_bc_mInfoType: 0
6 | aruco_bc_markers:
7 |    - { id:102, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
8 |        -250., 0. ], [ -250., -250., 0. ] ] }
9 | 


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/params/aruco_103.yaml:
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1 | %YAML:1.0
2 | ---
3 | aruco_bc_dict: ARUCO_MIP_36h12
4 | aruco_bc_nmarkers: 1
5 | aruco_bc_mInfoType: 0
6 | aruco_bc_markers:
7 |    - { id:103, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
8 |        -250., 0. ], [ -250., -250., 0. ] ] }
9 | 


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/params/aruco_104.yaml:
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1 | %YAML:1.0
2 | ---
3 | aruco_bc_dict: ARUCO_MIP_36h12
4 | aruco_bc_nmarkers: 1
5 | aruco_bc_mInfoType: 0
6 | aruco_bc_markers:
7 |    - { id:104, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
8 |        -250., 0. ], [ -250., -250., 0. ] ] }
9 | 


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/params/aruco_105.yaml:
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1 | %YAML:1.0
2 | ---
3 | aruco_bc_dict: ARUCO_MIP_36h12
4 | aruco_bc_nmarkers: 1
5 | aruco_bc_mInfoType: 0
6 | aruco_bc_markers:
7 |    - { id:105, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
8 |        -250., 0. ], [ -250., -250., 0. ] ] }
9 | 


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/launch/flight_bag.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 | 
 4 | 
 5 |   <!-- plot states -->
 6 |   <node pkg="EKF-SLAM" type="states_bag_plotter.py" name="states_bag_plotter" output="screen">
 7 |     <param name="time_window" value="10.0"/>
 8 |   </node>
 9 | 
10 |   <!-- My estimator -->
11 |   <node pkg="EKF-SLAM" type="ekf_slam_3D_thor.py" name="estimator_slam" output="screen"/>
12 | 
13 |   <!-- Run Rosbag -->
14 |   <node pkg="rosbag" type="play" name="rosbag" args="$(find EKF-SLAM)/bag/thor_mocap_new.bag" />
15 | 
16 | 
17 | 
18 | </launch>
19 | 


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/.gitignore:
--------------------------------------------------------------------------------
 1 | build/
 2 | bin/
 3 | lib/
 4 | msg_gen/
 5 | srv_gen/
 6 | msg/*Action.msg
 7 | msg/*ActionFeedback.msg
 8 | msg/*ActionGoal.msg
 9 | msg/*ActionResult.msg
10 | msg/*Feedback.msg
11 | msg/*Goal.msg
12 | msg/*Result.msg
13 | msg/_*.py
14 | 
15 | # Generated by dynamic reconfigure
16 | *.cfgc
17 | /cfg/cpp/
18 | /cfg/*.py
19 | 
20 | # Ignore generated docs
21 | *.dox
22 | *.wikidoc
23 | 
24 | # eclipse stuff
25 | .project
26 | .cproject
27 | 
28 | # qcreator stuff
29 | CMakeLists.txt.user
30 | 
31 | srv/_*.py
32 | *.pcd
33 | *.pyc
34 | qtcreator-*
35 | *.user
36 | 
37 | /planning/cfg
38 | /planning/docs
39 | /planning/src
40 | 
41 | *~
42 | 
43 | # Emacs
44 | .#*
45 | 
46 | # Catkin custom files
47 | CATKIN_IGNORE
48 | 


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/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <package>
 3 |   <name>EKF-SLAM</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The EKF-SLAM package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="michael@todo.todo">michael</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/EKF-SLAM</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *_depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use build_depend for packages you need at compile time: -->
35 |   <!--   <build_depend>message_generation</build_depend> -->
36 |   <!-- Use buildtool_depend for build tool packages: -->
37 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
38 |   <!-- Use run_depend for packages you need at runtime: -->
39 |   <!--   <run_depend>message_runtime</run_depend> -->
40 |   <!-- Use test_depend for packages you need only for testing: -->
41 |   <!--   <test_depend>gtest</test_depend> -->
42 |   <buildtool_depend>catkin</buildtool_depend>
43 |   <build_depend>roscpp</build_depend>
44 |   <build_depend>rospy</build_depend>
45 |   <run_depend>roscpp</run_depend>
46 |   <run_depend>rospy</run_depend>
47 | 
48 | 
49 |   <!-- The export tag contains other, unspecified, tags -->
50 |   <export>
51 |     <!-- Other tools can request additional information be placed here -->
52 | 
53 |   </export>
54 | </package>
55 | 


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/plugins/camera.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://ros.org/wiki/xacro">
 3 |   <xacro:property name="empty_inertia">
 4 |     <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.001" />
 5 |   </xacro:property>
 6 | 
 7 |   <xacro:macro
 8 |     name="simple_camera"
 9 |     params="namespace
10 |             frame_rate
11 |             rgb_range
12 |             image_topic
13 |             image_camera_info_topic
14 |             parent_link
15 |             *origin">
16 |     <link name="${namespace}/camera_base_link">
17 |       <inertial>
18 |         <mass value="0.001"/>
19 |         <xacro:insert_block name="origin"/>
20 |         <xacro:insert_block name="empty_inertia"/>
21 |       </inertial>
22 |     </link>
23 | 
24 |     <joint name="${namespace}/camera_joint" type="fixed">
25 |       <xacro:insert_block name="origin"/>
26 |       <parent link="${parent_link}"/>
27 |       <child link="${namespace}/camera_base_link"/>
28 |       <limit upper="0" lower="0" effort="0" velocity="0"/>
29 |     </joint>
30 | 
31 |     <gazebo reference="${namespace}/camera_base_link">
32 |       <sensor type="camera" name="${namespace}/camera">
33 |         <always_on>true</always_on>
34 |         <update_rate>${frame_rate}</update_rate>
35 |         <camera>
36 |           <horizontal_fov>1.1385</horizontal_fov>
37 |           <image>
38 |             <format>R8G8B8</format>
39 |             <width>1024</width>
40 |             <height>1024</height>
41 |           </image>
42 |           <clip>
43 |             <near>0.01</near>
44 |             <far>${rgb_range}</far>
45 |           </clip>
46 |         </camera>
47 |         <plugin name="${namespace}_camera" filename="libmagicc_sim_camera_plugin.so">
48 |           <robotNamespace>${namespace}</robotNamespace>
49 |           <alwaysOn>true</alwaysOn>
50 |           <updateRate>${frame_rate}</updateRate>
51 |           <cameraName>camera</cameraName>
52 |           <imageTopicName>${image_topic}</imageTopicName>
53 |           <cameraInfoTopicName>${image_camera_info_topic}</cameraInfoTopicName>
54 |           <frameName>/chase_camera_base_link</frameName>
55 |           <distortionK1>-0.0</distortionK1>
56 |           <distortionK2>0.0</distortionK2>
57 |           <distortionK3>0.000000</distortionK3>
58 |           <distortionT1>0.000</distortionT1>
59 |           <distortionT2>-0.00</distortionT2>
60 |         </plugin>
61 |       </sensor>
62 |     </gazebo>
63 |   </xacro:macro>
64 | 
65 | <!-- fx and fy = 800.1113537141453 -->
66 | <!-- cx and cy = 512.5 -->
67 | 
68 | </robot>
69 | 


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/params/aruco_all.yaml:
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 1 | %YAML:1.0
 2 | ---
 3 | aruco_bc_dict: ARUCO_MIP_36h12
 4 | aruco_bc_nmarkers: 21
 5 | aruco_bc_mInfoType: 0
 6 | aruco_bc_markers:
 7 |    - { id:100, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
 8 |        -250., 0. ], [ -250., -250., 0. ] ] }
 9 |    - { id:101, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
10 |        -250., 0. ], [ -250., -250., 0. ] ] }
11 |    - { id:102, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
12 |        -250., 0. ], [ -250., -250., 0. ] ] }
13 |    - { id:103, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
14 |        -250., 0. ], [ -250., -250., 0. ] ] }
15 |    - { id:104, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
16 |        -250., 0. ], [ -250., -250., 0. ] ] }
17 |    - { id:105, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
18 |        -250., 0. ], [ -250., -250., 0. ] ] }
19 |    - { id:106, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
20 |        -250., 0. ], [ -250., -250., 0. ] ] }
21 |    - { id:107, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
22 |        -250., 0. ], [ -250., -250., 0. ] ] }
23 |    - { id:108, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
24 |        -250., 0. ], [ -250., -250., 0. ] ] }
25 |    - { id:109, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
26 |        -250., 0. ], [ -250., -250., 0. ] ] }
27 |    - { id:110, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
28 |        -250., 0. ], [ -250., -250., 0. ] ] }
29 |    - { id:111, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
30 |        -250., 0. ], [ -250., -250., 0. ] ] }
31 |    - { id:112, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
32 |        -250., 0. ], [ -250., -250., 0. ] ] }
33 |    - { id:113, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
34 |        -250., 0. ], [ -250., -250., 0. ] ] }
35 |    - { id:114, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
36 |        -250., 0. ], [ -250., -250., 0. ] ] }
37 |    - { id:115, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
38 |         -250., 0. ], [ -250., -250., 0. ] ] }
39 |    - { id:116, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
40 |         -250., 0. ], [ -250., -250., 0. ] ] }
41 |    - { id:117, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
42 |         -250., 0. ], [ -250., -250., 0. ] ] }
43 |    - { id:118, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
44 |        -250., 0. ], [ -250., -250., 0. ] ] }
45 |    - { id:119, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
46 |        -250., 0. ], [ -250., -250., 0. ] ] }
47 |    - { id:120, corners:[ [ -250., 250., 0. ], [ 250., 250., 0. ], [ 250.,
48 |        -250., 0. ], [ -250., -250., 0. ] ] }
49 | 


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/launch/cave.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 |   <arg name="mav_name"            default="multirotor"/>
 4 |   <arg name="color"               default="White"/>
 5 |   <arg name="x"                   default="0"/>
 6 |   <arg name="y"                   default="0"/>
 7 |   <arg name="z"                   default="0.1"/>
 8 |   <arg name="yaw"                 default="0"/>
 9 |   <arg name="debug"               default="false"/>
10 | 
11 |   <!-- Start Simulator -->
12 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
13 |     <arg name="world_name" value="$(find EKF-SLAM)/worlds/cave.world"/>
14 |     <arg name="paused" value="true"/>
15 |     <arg name="gui" value="true"/>
16 |     <arg name="verbose" value="false"/>
17 |     <arg name="debug" value="$(arg debug)"/>
18 |   </include>
19 | 
20 |   <!-- Spawn Model in Gazebo -->
21 |   <include file="$(find roscopter_sim)/launch/spawn_mav.launch">
22 |     <arg name="mav_name"            value="$(arg mav_name)" />
23 |     <arg name="model"               value="$(find roscopter_sim)/xacro/$(arg mav_name).urdf.xacro" />
24 |     <arg name="x"                   value="$(arg x)"/>
25 |     <arg name="y"                   value="$(arg y)"/>
26 |     <arg name="z"                   value="$(arg z)"/>
27 |     <arg name="yaw"                 value="$(arg yaw)"/>
28 |     <arg name="color"               value="$(arg color)"/>
29 |   </include>
30 | 
31 |   <!-- Controller -->
32 |   <group ns="$(arg mav_name)">
33 | 
34 |     <!-- Load common parameters -->
35 |     <rosparam command="load" file="$(find roscopter_sim)/params/$(arg mav_name).yaml"/>
36 | 
37 |     <!-- Is Flying Publisher -->
38 |     <node pkg="rostopic" type="rostopic" name="is_flying_pub" args="pub is_flying std_msgs/Bool true"/>
39 | 
40 |     <!-- Status Publisher -->
41 |     <node pkg="rostopic" type="rostopic" name="status_pub" args="pub -r 1 status rosflight_msgs/Status '{armed: true, failsafe: false, rc_override: false, offboard: true, error_code: 0, num_errors: 0, loop_time_us: 1}'"/>
42 | 
43 |     <!-- State Estimator -->
44 |     <node pkg="roscopter" type="mekf" name="mekf" output="screen">
45 |       <remap from="baro" to="baro/data"/>
46 |       <remap from="sonar" to="sonar/data"/>
47 |       <remap from="magnetometer" to="mag/data"/>
48 |     </node>
49 | 
50 |     <!-- PID Position Controller -->
51 |     <node name="controller" pkg="roscopter" type="controller">
52 |       <!-- <remap from="estimate" to="ground_truth/odometry/NED"/> -->
53 |       <remap from="estimate" to="estimate"/>
54 |     </node>
55 | 
56 |     <!-- Waypoint Manager -->
57 |     <node name="waypoint_manager" pkg="roscopter" type="waypoint_manager.py" output="screen">
58 |       <remap from="waypoint" to="high_level_command"/>
59 |       <!-- <remap from="state" to="ground_truth/odometry/NED"/> -->
60 |       <remap from="state" to="estimate"/>
61 |     </node>
62 | 
63 |     <!-- plot states -->
64 |     <node pkg="roscopter" type="states_plotter.py" name="states_plotter" output="screen">
65 |       <param name="time_window" value="10.0"/>
66 |     </node>
67 | 
68 |   </group>
69 | 
70 | </launch>
71 | 


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/launch/two_mav_spawn.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | 
 3 | <launch>
 4 |   <arg name="mav_name" default="shredder"/>
 5 |   <arg name="model" default="$(find EKF-SLAM)/agents/$(arg mav_name)/$(arg mav_name).xacro"/>
 6 |   <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
 7 |   <arg name="x" default="0.0"/>
 8 |   <arg name="y" default="0.0"/>
 9 |   <arg name="yaw" default="0.0"/>
10 |   <arg name="z" default="10.0"/>
11 |   <arg name="enable_logging" default="false"/>
12 |   <arg name="enable_ground_truth" default="true"/>
13 |   <arg name="log_file" default="$(arg mav_name)"/>
14 |   <arg name="enable_wind" default="true"/>
15 |   <arg name="color" default="Black"/>
16 |   <arg name="robot_namespace" default="/"/>
17 |   <arg name="gazebo_namespace" default=""/>
18 | 
19 | 
20 |   <!-- send the robot XML to param server -->
21 |   <param name="robot_description" command="
22 |     $(find xacro)/xacro.py '$(arg model)'
23 |     mav_name:=$(arg mav_name)
24 |     color:=$(arg color)
25 |     gazebo_namespace:=$(arg gazebo_namespace)/gazebo
26 |     robot_namespace:=$(arg robot_namespace)"
27 |   />
28 |   <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
29 | 
30 |   <!-- push robot_description to factory and spawn robot in gazebo -->
31 |   <node name="spawn_$(arg mav_name)" pkg="gazebo_ros" type="spawn_model"
32 |    args="-param robot_description
33 |          -urdf
34 |          -x $(arg x)
35 |          -y $(arg y)
36 |          -z $(arg z)
37 |          -Y $(arg yaw)
38 |          -gazebo_namespace $(arg gazebo_namespace)/gazebo
39 |          -robot_namespace $(arg robot_namespace)
40 |          -model $(arg mav_name)"
41 |    respawn="false" output="screen">
42 |   </node>
43 | 
44 |   <arg name="boat_name" default="shredder"/>
45 |   <arg name="model2" default="$(find EKF-SLAM)/agents/$(arg boat_name)/$(arg boat_name)_only.xacro"/>
46 |   <arg name="tf_prefix2" default="$(optenv ROS_NAMESPACE)"/>
47 |   <arg name="x2" default="0.0"/>
48 |   <arg name="y2" default="0.0"/>
49 |   <arg name="yaw2" default="0.0"/>
50 |   <arg name="z2" default="0.0"/>
51 |   <arg name="enable_logging2" default="false"/>
52 |   <arg name="enable_ground_truth2" default="true"/>
53 |   <arg name="log_file2" default="$(arg boat_name)"/>
54 |   <arg name="enable_wind2" default="true"/>
55 |   <arg name="color2" default="Black"/>
56 |   <arg name="robot_namespace2" default="/"/>
57 |   <arg name="gazebo_namespace2" default=""/>
58 | 
59 | 
60 |   <!-- send the robot XML to param server -->
61 |   <param name="robot_description2" command="
62 |     $(find xacro)/xacro.py '$(arg model2)'
63 |     mav_name:=$(arg boat_name)
64 |     color:=$(arg color)
65 |     gazebo_namespace:=$(arg gazebo_namespace)/gazebo
66 |     robot_namespace:=$(arg robot_namespace)"
67 |   />
68 |   <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
69 | 
70 |   <!-- push robot_description to factory and spawn robot in gazebo -->
71 |   <node name="spawn_$(arg boat_name)" pkg="gazebo_ros" type="spawn_model"
72 |    args="-param robot_description2
73 |          -urdf
74 |          -x $(arg x2)
75 |          -y $(arg y2)
76 |          -z $(arg z2)
77 |          -Y $(arg yaw2)
78 |          -gazebo_namespace $(arg gazebo_namespace)/gazebo
79 |          -robot_namespace $(arg robot_namespace)
80 |          -model $(arg boat_name)"
81 |    respawn="false" output="screen">
82 |   </node>
83 | </launch>
84 | 


--------------------------------------------------------------------------------
/launch/cave_aruco.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <launch>
 3 |   <arg name="mav_name"            default="slammer"/>
 4 |   <arg name="color"               default="White"/>
 5 |   <arg name="x"                   default="0"/>
 6 |   <arg name="y"                   default="0"/>
 7 |   <arg name="z"                   default="0.1"/>
 8 |   <arg name="yaw"                 default="0"/>
 9 |   <arg name="debug"               default="false"/>
10 |   <arg name="boat_name"               default="aruco"/>
11 |   <arg name="show" default="true" />
12 | 
13 |   <!-- Start Simulator -->
14 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
15 |     <arg name="world_name" value="$(find EKF-SLAM)/worlds/cave.world"/>
16 |     <arg name="paused" value="true"/>
17 |     <arg name="gui" value="true"/>
18 |     <arg name="verbose" value="false"/>
19 |     <arg name="debug" value="$(arg debug)"/>
20 |   </include>
21 | 
22 |   <!-- Spawn Model in Gazebo -->
23 |   <include file="$(find EKF-SLAM)/launch/two_mav_spawn.launch">
24 |     <arg name="mav_name"            value="$(arg mav_name)" />
25 |     <arg name="model"               value="$(find EKF-SLAM)/agents/$(arg mav_name)/$(arg mav_name).xacro" />
26 |     <arg name="x"                   value="$(arg x)"/>
27 |     <arg name="y"                   value="$(arg y)"/>
28 |     <arg name="z"                   value="$(arg z)"/>
29 | 		<arg name="x2"                   value="0"/>
30 |     <arg name="y2"                   value="0"/>
31 |     <arg name="z2"                   value="0"/>
32 |     <arg name="yaw"                 value="$(arg yaw)"/>
33 |     <arg name="color"               value="$(arg color)"/>
34 |     <arg name="boat_name"            value="aruco" />
35 |     <arg name="model2"               value="$(find EKF-SLAM)/agents/$(arg boat_name)/$(arg boat_name)_only.xacro" />
36 |   </include>
37 | 
38 |   <!-- Controller -->
39 |   <group ns="$(arg mav_name)">
40 | 
41 |     <!-- Load common parameters -->
42 |     <rosparam command="load" file="$(find EKF-SLAM)/agents/$(arg mav_name)/$(arg mav_name).yaml"/>
43 | 
44 |     <!-- Is Flying Publisher -->
45 |     <node pkg="rostopic" type="rostopic" name="is_flying_pub" args="pub is_flying std_msgs/Bool true"/>
46 | 
47 |     <!-- Status Publisher -->
48 |     <node pkg="rostopic" type="rostopic" name="status_pub" args="pub -r 1 status rosflight_msgs/Status '{armed: true, failsafe: false, rc_override: false, offboard: true, error_code: 0, num_errors: 0, loop_time_us: 1}'"/>
49 | 
50 |     <!-- State Estimator -->
51 |     <!-- <node pkg="roscopter" type="mekf" name="mekf" output="screen">
52 |       <remap from="baro" to="baro/data"/>
53 |       <remap from="sonar" to="sonar/data"/>
54 |       <remap from="magnetometer" to="mag/data"/>
55 |     </node> -->
56 | 
57 |     <!-- PID Position Controller -->
58 |     <node name="controller" pkg="roscopter" type="controller">
59 |       <remap from="estimate" to="ground_truth/odometry/NED"/>
60 |       <!-- <remap from="estimate" to="estimate"/> -->
61 |     </node>
62 | 
63 |     <!-- Waypoint Manager -->
64 |     <node name="waypoint_manager" pkg="roscopter" type="waypoint_manager.py" output="screen">
65 |       <remap from="waypoint" to="high_level_command"/>
66 |       <remap from="state" to="ground_truth/odometry/NED"/>
67 |       <!-- <remap from="state" to="estimate"/> -->
68 |     </node>
69 | 
70 |     <!-- plot states -->
71 |     <node pkg="EKF-SLAM" type="states_plotter.py" name="states_plotter" output="screen">
72 |       <param name="time_window" value="10.0"/>
73 |     </node>
74 | 
75 |     <!-- My estimator -->
76 |     <!-- <node pkg="EKF-SLAM" type="ekf_slam2D.py" name="estimator_slam"/> -->
77 | 
78 |   </group>
79 | 
80 |   <!-- ArUco Detectors -->
81 |   <node pkg="aruco_localization" type="aruco_localization" name="aruco">
82 |     <param name="show_output_video" value="$(arg show)" />
83 |     <param name="markermap_config" value="$(find EKF-SLAM)/params/aruco_all.yaml" />
84 |     <!-- <param name="marker_size" value="0.1760" /> -->
85 |     <param name="marker_size" value="0.7071" />
86 | 
87 |     <param name="debug_save_input_frames" value="false" />
88 |     <param name="debug_save_output_frames" value="false" />
89 |     <param name="debug_image_path" value="/tmp/arucoimages" />
90 | 
91 |     <remap from="input_image" to="/slammer/camera/rgb" />
92 |     <remap from="output_image" to="aruco/image" />
93 |   </node>
94 | 
95 | 
96 | 
97 | </launch>
98 | 


--------------------------------------------------------------------------------
/agents/slammer/slammer.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | 
  3 | <!--
  4 | 
  5 | Gazebo Multirotor Definition File
  6 | Author: James Jackson
  7 | 
  8 | -->
  9 | 
 10 | <robot name="slammer" xmlns:xacro="http://ros.org/wiki/xacro">
 11 | 
 12 |   <!-- Properties -->
 13 |   <xacro:property name="namespace" value="slammer" />
 14 |   <xacro:property name="use_mesh_file" value="true" />
 15 |   <xacro:property name="mesh_file" value="model://quadrotor/meshes/quadrotor_base.dae" />
 16 |   <xacro:property name="mass" value="2.856" />
 17 |   <xacro:property name="body_width" value="0.505" />
 18 |   <xacro:property name="body_height" value="0.1" />
 19 |   <xacro:property name="body_inertia">
 20 |     <inertia ixx="0.07" ixy="0.0" ixz="0.0" iyy="0.08" iyz="0.0" izz="0.12" />
 21 |   </xacro:property>
 22 |   <xacro:property name="color" value="White" />
 23 | 
 24 |   <!-- *********************** GAZEBO ROBOT DEFINITION ******************* -->
 25 | 
 26 |   <link name="${namespace}/base_link">
 27 |     <inertial>
 28 |       <mass value="${mass}" />  <!-- [kg] -->
 29 |       <origin xyz="0 0 0" />
 30 |       <xacro:insert_block name="body_inertia" />
 31 |     </inertial>
 32 | 
 33 |     <visual>
 34 |       <origin xyz="0 0 0" rpy="0 0 0" />
 35 |       <geometry>
 36 |         <xacro:if value="${use_mesh_file}">
 37 |           <mesh filename="${mesh_file}" scale="1 1 1" />
 38 |         </xacro:if>
 39 |         <xacro:unless value="${use_mesh_file}">
 40 |           <cylinder length="${body_height}" radius="${body_width}"/>
 41 |         </xacro:unless>
 42 |       </geometry>
 43 |     </visual>
 44 | 
 45 |     <collision>
 46 |       <origin xyz="0 0 0" rpy="0 0 0" />
 47 |       <geometry>
 48 |         <cylinder length="${body_height}" radius="${body_width}"/>
 49 |       </geometry>
 50 |     </collision>
 51 |   </link>
 52 | 
 53 |   <gazebo reference="${namespace}/base_link">
 54 |     <material>Gazebo/${color}</material>
 55 |   </gazebo>
 56 | 
 57 |   <!-- ************************* FORCES AND MOMENTS ********************** -->
 58 | 
 59 |   <xacro:include filename="$(find roscopter_sim)/xacro/multirotor_forces_and_moments.xacro"/>
 60 |   <xacro:multirotor_forces_and_moments_macro
 61 |     namespace="${namespace}"
 62 |     parent_link="${namespace}/base_link"
 63 |     command_topic="command"
 64 |     wind_topic="wind"
 65 |     />
 66 | 
 67 |   <!-- ***************** SENSORS ******************* -->
 68 | 
 69 |   <!-- Ground Truth -->
 70 |   <xacro:include filename="$(find rosflight_plugins)/xacro/odometry_sensor.xacro"/>
 71 |   <xacro:odometry_plugin_macro namespace="${namespace}" parent_link="${namespace}/base_link"/>
 72 | 
 73 |   <!-- IMU -->
 74 |   <xacro:include filename="$(find rosflight_plugins)/xacro/imu.xacro"/>
 75 |   <xacro:imu_plugin_macro namespace="${namespace}" parent_link="${namespace}/base_link"/>
 76 | 
 77 |   <!-- Sonar -->
 78 |   <xacro:include filename="$(find rosflight_plugins)/xacro/sonar.xacro"/>
 79 |   <xacro:Sonar_MB1030
 80 |     namespace="${namespace}"
 81 |     parent_link="${namespace}/base_link"
 82 |     sonar_topic="sonar/data">
 83 |     <origin xyz="0 0 0" rpy="0 1.57 0" />
 84 |   </xacro:Sonar_MB1030>
 85 | 
 86 |   <!-- Barometer -->
 87 |   <xacro:include filename="$(find rosflight_plugins)/xacro/barometer.xacro"/>
 88 |   <xacro:barometer_plugin_macro namespace="${namespace}" parent_link="${namespace}/base_link"/>
 89 | 
 90 |   <!-- Magnetometer -->
 91 |   <xacro:include filename="$(find rosflight_plugins)/xacro/magnetometer.xacro"/>
 92 |   <xacro:magnetometer_plugin_macro namespace="${namespace}" parent_link="${namespace}/base_link"/>
 93 | 
 94 |   <!-- GPS -->
 95 |   <xacro:include filename="$(find rosflight_plugins)/xacro/GPS.xacro"/>
 96 |   <xacro:gps_plugin_macro namespace="${namespace}" parent_link="${namespace}/base_link"/>
 97 | 
 98 |   <!-- Fixed Camera -->
 99 |   <xacro:include filename="$(find magicc_sim_plugins)/xacro/camera.xacro"/>
100 |   <!-- <xacro:include filename="$(find EKF-SLAM)/plugins/camera.xacro"/> -->
101 | 
102 |   <!-- <xacro:simple_camera <xacro:include filename="$(find magicc_sim_plugins)/xacro/camera.xacro"/> -->
103 |   <xacro:simple_camera
104 | 
105 |     namespace="${namespace}"
106 |     frame_rate="30"
107 |     rgb_range="1000"
108 |     parent_link="${namespace}/base_link"
109 |     image_topic="rgb"
110 |     camera_info_topic="camera_info">
111 |     <!-- Camera set 20 cm down to get prop out of FOV -->
112 |     <origin xyz="0.0 0.0 -0.20" rpy="0.0 0.0 0.0"/>
113 |   </xacro:simple_camera>
114 | 
115 | </robot>
116 | 


--------------------------------------------------------------------------------
/agents/aruco/aruco_only.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | 
  3 | <robot name="aruco" xmlns:xacro="http://ros.org/wiki/xacro">
  4 | 
  5 | 	<!-- Properties -->
  6 | 	<!-- <xacro:property name="aruco_dict" value="${load_yaml('aruco_only.yaml')}"/> -->
  7 | 	<!-- <xacro:property name="boat_type" value="${aruco_dict['boat_type']}"/> -->
  8 | 	<xacro:property name="namespace" value="aruco_box"/>
  9 | 	<!-- <xacro:property name="mesh_file" value="package://boat_landing/meshes/Boat/${boat_type}_boat.dae"/> -->
 10 | 	<!-- <xacro:property name="aruco_mesh_file_1" value="package://boat_landing/meshes/Boat/arucos/aruco${aruco_num}.dae"/> -->
 11 | 	<!-- <xacro:property name="aruco_mesh_file_1" value="package://boat_landing/meshes/Boat/arucos/aruco${aruco_num}_nested.dae"/> -->
 12 | 	<xacro:property name="aruco01" value="package://EKF-SLAM/meshes/aruco100.dae"/>
 13 | 	<xacro:property name="aruco02" value="package://EKF-SLAM/meshes/aruco101.dae"/>
 14 | 	<xacro:property name="aruco03" value="package://EKF-SLAM/meshes/aruco102.dae"/>
 15 | 	<xacro:property name="aruco04" value="package://EKF-SLAM/meshes/aruco103.dae"/>
 16 | 	<xacro:property name="aruco05" value="package://EKF-SLAM/meshes/aruco104.dae"/>
 17 | 	<xacro:property name="aruco06" value="package://EKF-SLAM/meshes/aruco105.dae"/>
 18 | 	<xacro:property name="aruco07" value="package://EKF-SLAM/meshes/aruco106.dae"/>
 19 | 	<xacro:property name="aruco08" value="package://EKF-SLAM/meshes/aruco107.dae"/>
 20 | 	<xacro:property name="aruco09" value="package://EKF-SLAM/meshes/aruco108.dae"/>
 21 | 	<xacro:property name="aruco10" value="package://EKF-SLAM/meshes/aruco109.dae"/>
 22 | 	<xacro:property name="aruco11" value="package://EKF-SLAM/meshes/aruco110.dae"/>
 23 | 	<xacro:property name="aruco12" value="package://EKF-SLAM/meshes/aruco111.dae"/>
 24 | 	<xacro:property name="aruco13" value="package://EKF-SLAM/meshes/aruco112.dae"/>
 25 | 	<!--aruco4 doesn't work for some reason...-->
 26 | 	<xacro:property name="box_width" value="1.0"/>
 27 | 	<!--+++++++++++++++++++-->
 28 | 	<xacro:property name="box_height" value="0.1"/>
 29 | 	<!--+++++++++++++++++++-->
 30 | 	<xacro:property name="box_inertia">
 31 | 		<inertia ixx="16.6" ixy="0.0" ixz="0.0" iyy="16.6" iyz="0.0" izz="16.6"/>
 32 | 	</xacro:property>
 33 | 
 34 | 
 35 | 	<!-- Define the aruco link -->
 36 | 	<link name="aruco_link_1">
 37 | 		<!-- <visual>
 38 | 		    <origin xyz="0.0 0 0.0" rpy="0 0 0"/>
 39 | 			<geometry>
 40 | 				<mesh filename="${aruco01}" scale="1.0 1.0 1.0"/>
 41 | 			</geometry>
 42 | 		</visual> -->
 43 | 
 44 | 		<!-- West Wall -->
 45 | 		<visual>
 46 | 		    <origin xyz="0.0 14.5 5.0" rpy="1.571 0 0"/>
 47 | 			<geometry>
 48 | 				<mesh filename="${aruco02}" scale="1.0 1.0 1.0"/>
 49 | 			</geometry>
 50 | 		</visual>
 51 | 		<visual>
 52 | 		    <origin xyz="5.0 14.5 5.0" rpy="1.571 0 0"/>
 53 | 			<geometry>
 54 | 				<mesh filename="${aruco03}" scale="1.0 1.0 1.0"/>
 55 | 			</geometry>
 56 | 		</visual>
 57 | 		<visual>
 58 | 		    <origin xyz="-5.0 14.5 5.0" rpy="1.571 0 0"/>
 59 | 			<geometry>
 60 | 				<mesh filename="${aruco04}" scale="1.0 1.0 1.0"/>
 61 | 			</geometry>
 62 | 		</visual>
 63 | 
 64 | 		<!-- East Wall -->
 65 | 		<visual>
 66 | 		    <origin xyz="0.0 -14.5 5.0" rpy="-1.571 0 0"/>
 67 | 			<geometry>
 68 | 				<mesh filename="${aruco05}" scale="1.0 1.0 1.0"/>
 69 | 			</geometry>
 70 | 		</visual>
 71 | 		<visual>
 72 | 		    <origin xyz="5.0 -14.5 5.0" rpy="-1.571 0 0"/>
 73 | 			<geometry>
 74 | 				<mesh filename="${aruco06}" scale="1.0 1.0 1.0"/>
 75 | 			</geometry>
 76 | 		</visual>
 77 | 		<visual>
 78 | 		    <origin xyz="-5.0 -14.5 5.0" rpy="-1.571 0 0"/>
 79 | 			<geometry>
 80 | 				<mesh filename="${aruco07}" scale="1.0 1.0 1.0"/>
 81 | 			</geometry>
 82 | 		</visual>
 83 | 
 84 | 		<!-- North Wall -->
 85 | 		<visual>
 86 | 		    <origin xyz="7.0 0.0 5.0" rpy="0 -1.571 0"/>
 87 | 			<geometry>
 88 | 				<mesh filename="${aruco08}" scale="1.0 1.0 1.0"/>
 89 | 			</geometry>
 90 | 		</visual>
 91 | 		<visual>
 92 | 		    <origin xyz="7.0 7.5 5.0" rpy="0 -1.571 0"/>
 93 | 			<geometry>
 94 | 				<mesh filename="${aruco09}" scale="1.0 1.0 1.0"/>
 95 | 			</geometry>
 96 | 		</visual>
 97 | 		<visual>
 98 | 		    <origin xyz="7.0 -7.5 5.0" rpy="0 -1.571 0"/>
 99 | 			<geometry>
100 | 				<mesh filename="${aruco10}" scale="1.0 1.0 1.0"/>
101 | 			</geometry>
102 | 		</visual>
103 | 
104 | 		<!-- South Wall -->
105 | 		<visual>
106 | 		    <origin xyz="-7.0 0.0 5.0" rpy="0 1.571 0"/>
107 | 			<geometry>
108 | 				<mesh filename="${aruco11}" scale="1.0 1.0 1.0"/>
109 | 			</geometry>
110 | 		</visual>
111 | 		<visual>
112 | 		    <origin xyz="-7.0 7.5 5.0" rpy="0 1.571 0"/>
113 | 			<geometry>
114 | 				<mesh filename="${aruco12}" scale="1.0 1.0 1.0"/>
115 | 			</geometry>
116 | 		</visual>
117 | 		<visual>
118 | 		    <origin xyz="-7.0 -7.5 5.0" rpy="0 1.571 0"/>
119 | 			<geometry>
120 | 				<mesh filename="${aruco13}" scale="1.0 1.0 1.0"/>
121 | 			</geometry>
122 | 		</visual>
123 | 
124 | 
125 | 		<collision>
126 | 				<origin xyz="0 0 0.05" rpy="0 0 0"/>
127 | 			<geometry>
128 | 				<box size="1.0 1.0 0.1"/>
129 | 			</geometry>
130 | 		</collision>
131 | 		<inertial>
132 | 			<mass value="100.0"/>
133 | 			<origin xyz="0 0 0"/>
134 | 			<xacro:insert_block name="box_inertia"/>
135 | 		</inertial>
136 | 	</link>
137 | 
138 | 
139 | 	<gazebo reference="${namespace}/base_link">
140 | 		<material>Gazebo/$(arg color)</material>
141 | 	</gazebo>
142 | 
143 | 
144 | </robot>
145 | 


--------------------------------------------------------------------------------
/src/rosbag_data_loader.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/env python
  2 | # -*- coding: utf-8 -*-
  3 | 
  4 | import numpy as np
  5 | from tqdm import tqdm
  6 | from pyquat import Quaternion
  7 | import rosbag
  8 | from geometry_msgs.msg import Vector3Stamped, PoseStamped
  9 | from sensor_msgs.msg import Imu, Range
 10 | from aruco_localization.msg import MarkerMeasurementArray
 11 | from rosflight_msgs.msg import Attitude
 12 | import scipy.signal
 13 | 
 14 | 
 15 | def calculate_velocity_from_position(t, position, orientation):
 16 |     # Calculate body-fixed velocity by differentiating position and rotating
 17 |     # into the body frame
 18 |     b, a = scipy.signal.butter(8, 0.03)  # Create a Butterworth Filter
 19 |     # differentiate Position
 20 |     delta_x = np.diff(position, axis=0)
 21 |     delta_t = np.diff(t)
 22 |     unfiltered_inertial_velocity = np.vstack((np.zeros((1, 3)), delta_x / delta_t[:, None]))
 23 |     # Filter
 24 |     v_inertial = scipy.signal.filtfilt(b, a, unfiltered_inertial_velocity, axis=0)
 25 |     # Rotate into Body Frame
 26 |     vel_data = []
 27 |     for i in range(len(t)):
 28 |         q_I_b = Quaternion(orientation[i, :, None])
 29 |         vel_data.append(q_I_b.rot(v_inertial[i, None].T).T)
 30 | 
 31 |     vel_data = np.array(vel_data).squeeze()
 32 |     return vel_data
 33 | 
 34 | 
 35 | def load_data(filename, outbag):
 36 |     print "loading rosbag", filename
 37 |     # First, load IMU data
 38 |     bag = rosbag.Bag(filename)
 39 |     # outbag = rosbag.Bag('thor_mocap_new.bag', 'w')
 40 |     imu_data = []
 41 |     truth_pose_data = []
 42 |     timestamp_data = []
 43 | 
 44 |     for topic, msg, t in tqdm(bag.read_messages(topics=['/aruco/measurements',
 45 |                                                    '/mocapNED',
 46 |                                                    '/mocap/thor/pose',
 47 |                                                    '/imu/data',
 48 |                                                    '/sonar',
 49 |                                                    '/attitude'])):
 50 | 
 51 | 
 52 |         if topic == '/mocap/thor/pose':
 53 |             # outbag.write(topic, msg, msg.header.stamp)
 54 | 
 55 |             truth_meas = [msg.header.stamp.to_sec(),
 56 |                           msg.pose.position.z, -msg.pose.position.x, -msg.pose.position.y,
 57 |                           -msg.pose.orientation.w, -msg.pose.orientation.z, msg.pose.orientation.x, msg.pose.orientation.y]
 58 |             truth_pose_data.append(truth_meas)
 59 |             timestamp_datapoint = [msg.header.stamp.secs, msg.header.stamp.nsecs, msg.header.seq]#, msg.header.frame_id]
 60 |             timestamp_data.append(timestamp_datapoint)
 61 |             # z = int('%d%d' % (timestamp_datapoint[0], timestamp_datapoint[1]))
 62 |             # print z
 63 |             # print t
 64 | 
 65 | 
 66 | 
 67 |         # if topic == '/imu/data':
 68 |         #     outbag.write(topic, msg, msg.header.stamp)
 69 |         #
 70 |         # if topic == '/aruco/measurements':
 71 |         #     outbag.write(topic, msg, msg.header.stamp)
 72 |         #
 73 |         # if topic == '/sonar':
 74 |         #     outbag.write(topic, msg, msg.header.stamp)
 75 |         #
 76 |         # if topic == '/attitude':
 77 |         #     outbag.write(topic, msg, msg.header.stamp)
 78 |         #
 79 |         # if topic == '/mocapNED':
 80 |         #     outbag.write(topic, msg, msg.header.stamp)
 81 | 
 82 |     imu_data = np.array(imu_data)
 83 |     truth_pose_data = np.array(truth_pose_data)
 84 |     timestamp_data = np.array(timestamp_data)
 85 | 
 86 |     # Remove Bad Truth Measurements
 87 |     good_indexes = np.hstack((True, np.diff(truth_pose_data[:,0]) > 1e-3))
 88 |     truth_pose_data = truth_pose_data[good_indexes]
 89 |     timestamp_data = timestamp_data[good_indexes]
 90 |     vel_data = calculate_velocity_from_position(truth_pose_data[:,0], truth_pose_data[:,1:4], truth_pose_data[:,4:8])
 91 |     vel_data = np.hstack((timestamp_data,vel_data))
 92 | 
 93 |     return vel_data
 94 | 
 95 | def bagwriter(filename, outbag, data):
 96 | 
 97 |     bag = rosbag.Bag(filename)
 98 |     i=0
 99 |     for topic, msg, t in tqdm(bag.read_messages(topics=['/aruco/measurements',
100 |                                                '/mocapNED',
101 |                                                '/mocap/thor/pose',
102 |                                                '/imu/data',
103 |                                                '/sonar',
104 |                                                '/attitude'])):
105 |         if topic == '/imu/data':
106 |             outbag.write(topic, msg, msg.header.stamp)
107 | 
108 |         if topic == '/aruco/measurements':
109 |             outbag.write(topic, msg, msg.header.stamp)
110 | 
111 |         if topic == '/sonar':
112 |             outbag.write(topic, msg, msg.header.stamp)
113 | 
114 |         if topic == '/attitude':
115 |             outbag.write(topic, msg, msg.header.stamp)
116 | 
117 |         if topic == '/mocapNED':
118 |             outbag.write(topic, msg, msg.header.stamp)
119 | 
120 |         if topic == '/mocap/thor/pose':
121 |             outbag.write(topic, msg, msg.header.stamp)
122 | 
123 |         velocities = Vector3Stamped()
124 |         velocities.header.stamp.secs = data[i,0]
125 |         velocities.header.stamp.nsecs = data[i,1]
126 |         # print velocities.header.stamp
127 |         # print t
128 |         if velocities.header.stamp < t and i<len(data)-1:
129 |             # print 'should be working'
130 |             velocities.header.seq = data[i,2]
131 |             velocities.vector.x = data[i,3]
132 |             velocities.vector.y = data[i,4]
133 |             velocities.vector.z = data[i,5]
134 |             outbag.write('/velocities', velocities, velocities.header.stamp)
135 |             i = i+1
136 | 
137 | 
138 |             # for i in range (0,len(data)):
139 |             #     velocities.header.seq = i
140 |             #     velocities.header.stamp.secs = data[i,0]
141 |             #     velocities.header.seq = data[i,1]
142 |             #     # velocities.header.frame_id = data[i,2]
143 |             #     velocities.vector.x = data[i,3]
144 |             #     velocities.vector.y = data[i,4]
145 |             #     velocities.vector.z = data[i,5]
146 |             #     outbag.write('/velocities', velocities, velocities.header.stamp)
147 | 
148 |             # finally:
149 |             #     outbag.close()
150 | 
151 | if __name__ == '__main__':
152 |     outbag = rosbag.Bag('thor_mocap_new.bag', 'w')
153 |     data = load_data('thor_mocap_first_good.bag', outbag)
154 | 
155 |     bagwriter('thor_mocap_first_good.bag',outbag, data)
156 | 
157 |     print "done"
158 |     outbag.close()
159 | 


--------------------------------------------------------------------------------
/src/ekf_slam.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/env python
  2 | # Python implementation of "ekf_slam"
  3 | 
  4 | import rospy
  5 | from nav_msgs.msg import Odometry
  6 | from sensor_msgs.msg import Imu
  7 | from std_msgs.msg import Float32
  8 | from math import *
  9 | import numpy as np
 10 | import tf
 11 | 
 12 | class ekf_slam:
 13 |     #init functions
 14 |     def __init__(self):
 15 |         #init stuff
 16 |         #get stuff
 17 | 
 18 |         # Estimator stuff
 19 |         # x = pn, pe, pd, u, v, w, phi, theta, psi
 20 |         self.xhat = np.zeros((9,1))
 21 |         self.xhat_odom = Odometry()
 22 | 
 23 |         # Covariance matrix
 24 |         self.P = np.diag([0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01])
 25 | 
 26 |         # Measurements stuff
 27 |         # Truth
 28 |         self.truth_pn = 0.0
 29 |         self.truth_pe = 0.0
 30 |         self.truth_pd = 0.0
 31 |         self.truth_phi = 0.0
 32 |         self.truth_theta = 0.0
 33 |         self.truth_psi = 0.0
 34 |         self.truth_p = 0.0
 35 |         self.truth_q = 0.0
 36 |         self.truth_r = 0.0
 37 |         self.truth_pndot = 0.0
 38 |         self.truth_pedot = 0.0
 39 |         self.truth_pddot = 0.0
 40 | 
 41 |         # IMU Stuff
 42 |         self.imu_p = 0.0
 43 |         self.imu_q = 0.0
 44 |         self.imu_r = 0.0
 45 |         self.imu_ax = 0.0
 46 |         self.imu_ay = 0.0
 47 |         self.imu_az = 0.0
 48 | 
 49 |         # Constants
 50 |         self.g = 9.8
 51 | 
 52 |         # ROS Stuff
 53 |         # Init subscribers
 54 |         self.truth_sub_ = rospy.Subscriber('/slammer/ground_truth/odometry/NED', Odometry, self.truth_callback)
 55 |         self.imu_sub_ = rospy.Subscriber('/slammer/imu/data', Imu, self.imu_callback)
 56 | 
 57 |         # Init publishers
 58 |         self.estimate_pub_ = rospy.Publisher('ekf_estimate', Odometry, queue_size=10)
 59 | 
 60 |         # Init Timer
 61 |         self.propagate_rate_ = 100. #
 62 |         self.update_timer_ = rospy.Timer(rospy.Duration(1.0/self.propagate_rate_), self.propagate)
 63 | 
 64 | 
 65 |     def propagate(self, event):
 66 |         # for i in range(0,self.N_):
 67 |         cp = cos(self.truth_phi) # cos(phi)
 68 |         sp = sin(self.truth_phi) # sin(phi)
 69 |         tt = tan(self.truth_theta) # tan(theta)
 70 |         ct = cos(self.truth_theta) # cos(theta)
 71 |         st = sin(self.truth_theta) # cos(theta)
 72 | 
 73 |         # cp = cos(self.xhat[6]) # cos(phi)
 74 |         # sp = sin(self.xhat[6]) # sin(phi)
 75 |         # tt = tan(self.xhat[7]) # tan(theta)
 76 |         # ct = cos(self.xhat[7]) # cos(theta)
 77 |         # st = sin(self.xhat[7]) # cos(theta)
 78 | 
 79 |         p = self.imu_p
 80 |         q = self.imu_q
 81 |         r = self.imu_r
 82 | 
 83 |         # self.f = np.array([[p_x_dot],   # pndot
 84 |         # [p_y_dot],                      # pedot
 85 |         # [p_z_dot],                      # pddot
 86 |         # [cp*st*a_z],                    # udot
 87 |         # [-sp*az],                       # vdot
 88 |         # [g+cp*ct*a_z],                  # wdot
 89 |         # [p+q*sp*tt + r*cp*tt],          # phidot
 90 |         # [q*sp- r*sp],                   # thetadot
 91 |         # [q*sp/ct+ r*cp/ct]])            # psidot
 92 | 
 93 |         self.f = np.array([[self.truth_pndot],   # pndot
 94 |         [self.truth_pedot],                      # pedot
 95 |         [self.truth_pddot],                      # pddot
 96 |         [cp*st*self.imu_az],                    # udot
 97 |         [-sp*self.imu_az],                       # vdot
 98 |         [self.g+cp*ct*self.imu_az],                  # wdot
 99 |         [p+q*sp*tt + r*cp*tt],          # phidot
100 |         [q*sp- r*sp],                   # thetadot
101 |         [q*sp/ct+ r*cp/ct]])            # psidot
102 | 
103 |         # x_hat += (params.Ts/self.N_)*self.f
104 |         self.xhat += (1./self.propagate_rate_)*self.f
105 | 
106 |         A = np.array([[0, 0, 0, 1, 0, 0, 0, 0, 0],
107 |         [0, 0, 0, 0, 1, 0, 0, 0, 0],
108 |         [0, 0, 0, 0, 0, 1, 0, 0, 0],
109 |         [0, 0, 0, 0, 0, 0, -sp*st*self.imu_az, cp*ct*self.imu_az, 0],
110 |         [0, 0, 0, 0, 0, 0, -cp*self.imu_az, 0, 0],
111 |         [0, 0, 0, 0, 0, 0, -sp*ct*self.imu_az, -cp*st*self.imu_az, 0],
112 |         [0, 0, 0, 0, 0, 0, q*cp*tt-r*sp*tt, (q*sp+r*cp)/(ct)**2, 0],
113 |         [0, 0, 0, 0, 0, 0, -q*sp-r*cp, 0, 0],
114 |         [0, 0, 0, 0, 0, 0, (q*cp-r*sp)/ct, -(q*sp+r*cp)*tt/ct, 0]])
115 | 
116 |         # P = P + (T_out/N)*(np.matmul(A,P)+np.matmul(P,A.T)+np.matmul(G,Q,G.T))
117 |         # print self.P
118 |         # print [0,0,0,0,0,0,-sp*st*self.imu_az,cp*ct*self.imu_az,0]
119 |         self.P = self.P + (1./self.propagate_rate_)*(np.matmul(A,self.P)+np.matmul(self.P,A.T))#+np.matmul(G,Q,G.T))
120 | 
121 |         # TODO Move this to its own func
122 |         # pack up estimate to ROS msg and publish
123 |         self.xhat_odom.pose.pose.position.x = self.xhat[0] # pn
124 |         self.xhat_odom.pose.pose.position.y = self.xhat[1] # pe
125 |         self.xhat_odom.pose.pose.position.z = self.xhat[2] # pd
126 |         self.xhat_odom.twist.twist.linear.x = self.xhat[3] # u
127 |         self.xhat_odom.twist.twist.linear.y = self.xhat[4] # v
128 |         self.xhat_odom.twist.twist.linear.z = self.xhat[5] # w
129 | 
130 |         # These are euler angles
131 |         self.xhat_odom.pose.pose.orientation.x = self.xhat[6] # phi
132 |         self.xhat_odom.pose.pose.orientation.y = self.xhat[7] # theta
133 |         self.xhat_odom.pose.pose.orientation.z = self.xhat[8] # psi
134 | 
135 |         self.estimate_pub_.publish(self.xhat_odom)
136 | 
137 |     def update(self):
138 |         pass
139 | 
140 |     # Callback Functions
141 |     def truth_callback(self, msg):
142 | 
143 |         # Map msg to class variables
144 |         self.truth_pn = msg.pose.pose.position.x
145 |         self.truth_pe = msg.pose.pose.position.y
146 |         self.truth_pd = msg.pose.pose.position.z
147 | 
148 |         quat = (
149 |         msg.pose.pose.orientation.x,
150 |         msg.pose.pose.orientation.y,
151 |         msg.pose.pose.orientation.z,
152 |         msg.pose.pose.orientation.w)
153 |         euler = tf.transformations.euler_from_quaternion(quat)
154 | 
155 |         self.truth_phi = euler[0]
156 |         self.truth_theta = euler[1]
157 |         self.truth_psi = euler[2]
158 | 
159 |         self.truth_p = msg.twist.twist.angular.x
160 |         self.truth_q = msg.twist.twist.angular.y
161 |         self.truth_r = msg.twist.twist.angular.z
162 |         self.truth_pndot = msg.twist.twist.linear.x
163 |         self.truth_pedot = msg.twist.twist.linear.y
164 |         self.truth_pddot = msg.twist.twist.linear.z
165 | 
166 |     def imu_callback(self, msg):
167 | 
168 |         # Map msg to class variables
169 | 
170 |         # Angular rates
171 |         self.imu_p = msg.angular_velocity.x
172 |         self.imu_q = msg.angular_velocity.y
173 |         self.imu_r = msg.angular_velocity.z
174 | 
175 |         # Linear accel
176 |         self.imu_ax = msg.linear_acceleration.x
177 |         self.imu_ay = msg.linear_acceleration.y
178 |         self.imu_az = msg.linear_acceleration.z
179 | 
180 | 
181 | ##############################
182 | #### Main Function to Run ####
183 | ##############################
184 | if __name__ == '__main__':
185 |     # Initialize Node
186 |     rospy.init_node('slam_estimator')
187 | 
188 |     # init path_manager_base object
189 |     estimator = ekf_slam()
190 | 
191 |     rospy.spin()
192 | 


--------------------------------------------------------------------------------
/agents/slammer/slammer.yaml:
--------------------------------------------------------------------------------
  1 | ### Simplified Dynamics ###
  2 | 
  3 | dynamics: {
  4 | 
  5 | mass: 2.856,
  6 | linear_mu: 0.2,
  7 | angular_mu: 0.3,
  8 | ground_effect: [-55.3516, 181.8265, -203.9874, 85.3735, -7.6619],
  9 | 
 10 | max_l: 6.5080,
 11 | max_m: 5.087,
 12 | max_n: 0.25,
 13 | max_F: 59.844,
 14 | tau_up_l: 0.1904,
 15 | tau_up_m: 0.1904,
 16 | tau_up_n: 0.1644,
 17 | tau_up_F: 0.1644,
 18 | tau_down_l: 0.1904,
 19 | tau_down_m: 0.1904,
 20 | tau_down_n: 0.2164,
 21 | tau_down_F: 0.2164,
 22 | roll_P: 25.0,
 23 | roll_I: 0.0,
 24 | roll_D: 8.0,
 25 | pitch_P: 25.0,
 26 | pitch_I: 0.0,
 27 | pitch_D: 8.0,
 28 | yaw_P: 25.0,
 29 | yaw_I: 0.0,
 30 | yaw_D: 0.0,
 31 | alt_P: 16.0,
 32 | alt_I: 5.0,
 33 | alt_D: 32.0
 34 | 
 35 | }
 36 | 
 37 | ### Waypoints ###
 38 | 
 39 | waypoint_manager: {
 40 | 
 41 | waypoints:
 42 |  # [[0, 0, -7.5, 0],
 43 |  # [0, 0, -2.5, 0]],
 44 |  # [0, 0, -5, 3.14]],
 45 |  # [[2.0, -1.0, -5, 0]],
 46 | 
 47 |  # Side Walls
 48 |  # [[2, -1.0, -5, 3.14159],
 49 |  # [-5, 1.0, -5, 0.]],
 50 | 
 51 |  # Far Top and Bottom Walls
 52 |  [[0., -12.0, -5, -1.57],
 53 |  [0., 12.0, -3.5, 1.57],
 54 |  [0., 0., -6, 0.],
 55 |  [0., -12.0, -3.5, -1.57],
 56 |  [0., 12.0, -5, 1.57]],
 57 | 
 58 | # Just front Wall
 59 | # [[5, -7.5, -5, 0],
 60 | # [5, 0, -5, 0],
 61 | # [5, 7.5, -5, 0]],
 62 | 
 63 | #rotate, then move forward for simplicity
 64 |  # [[0, 0, -5, 0],
 65 |  # [0, 0, -5, 2.3],
 66 |  # [5, 5, -5, 2.3],
 67 |  # [5, 5, -5, 3.9],
 68 |  # [-1.4, 2.7, -5, 3.9],
 69 |  # [-1.4, 2.7, -5, 5.5],
 70 |  # [-2.6, -4.3, -5, 5.5],
 71 |  # [-2.6, -4.3, -5, .78],
 72 |  # [2.7, -2.7, -5, 0.78],
 73 |  # [2.7, -2.7, -5, 0.0]],
 74 | 
 75 | #original waypoints
 76 |  # [[0, 0, -5, 0],
 77 |  # [5, 5, -5, 2.3],
 78 |  # [-1.4, 2.7, -5, 3.9],
 79 |  # [-2.6, -4.3, -5, 5.5],
 80 |  # [2.7, -2.7, -5, 0.78]],
 81 | 
 82 | threshold: 1,
 83 | cyle: True
 84 | 
 85 | }
 86 | 
 87 | ### Controller Parameters
 88 | 
 89 | controller: {
 90 | 
 91 | u_P: 0.3,
 92 | u_I: 0.0,
 93 | u_D: 0.05,
 94 | 
 95 | v_P: 0.3,
 96 | v_I: 0.0,
 97 | v_D: 0.05,
 98 | 
 99 | w_P: 4.0,
100 | w_I: 0.1,
101 | w_D: 1.0,
102 | 
103 | x_P: 0.4,
104 | x_I: 0.0,
105 | x_D: 0.2,
106 | 
107 | y_P: 0.4,
108 | y_I: 0.0,
109 | y_D: 0.2,
110 | 
111 | z_P: 0.9,
112 | z_I: 0.2,
113 | z_D: 0.35,
114 | 
115 | psi_P: 1.0,
116 | psi_I: 0.0,
117 | psi_D: 0.0,
118 | 
119 | tau: 0.05,
120 | 
121 | equilibrium_thrust: 0.5,
122 | 
123 | max_roll: 0.196,
124 | max_pitch: 0.196,
125 | max_yaw_rate: 0.785,
126 | max_throttle: 0.85,
127 | max_u: 1.5,
128 | max_v: 1.5,
129 | max_w: 1.25
130 | 
131 | }
132 | 
133 | ### Estimator Parameters ###
134 | 
135 | mekf: {
136 | 
137 | p0: [0,  # PN
138 |      0,  # PE
139 |      0], # PD
140 | 
141 | q0: [1,  # QW
142 |      0,  # QX
143 |      0,  # QY
144 |      0], # QZ
145 | 
146 | v0: [0,  # U
147 |      0,  # V
148 |      0], # W
149 | 
150 | bg0: [0,  # GX
151 |       0,  # GY
152 |       0], # GZ
153 | 
154 | ba0: [0,  # AX
155 |       0,  # AY
156 |       0], # AZ
157 | 
158 | mu0: 0.06, # MU
159 | 
160 | P0: [0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPN
161 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPE
162 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPD
163 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPHI
164 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dTHETA
165 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPSI
166 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dU
167 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dV
168 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dW
169 |      0.0010000000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dGX
170 |      0.0010000000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dGY
171 |      0.0010000000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dGZ
172 |      0.0010000000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dAX
173 |      0.0010000000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dAY
174 |      0.0010000000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dAZ
175 |      0.0000000000],                                   # dMU
176 | 
177 | Qx: [0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPN
178 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPE
179 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPD
180 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPHI
181 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dTHETA
182 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dPSI
183 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dU
184 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dV
185 |      0.0000000001,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dW
186 |      0.0000010000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dGX
187 |      0.0000010000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dGY
188 |      0.0000010000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dGZ
189 |      0.0000010000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dAX
190 |      0.0000010000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dAY
191 |      0.0000010000,  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,  # dAZ
192 |      0.0000000000],                                   # dMU
193 | 
194 | Qu: [0.000025,  0,0,0,0,0,0,  # GYRO_X
195 |      0.000025,  0,0,0,0,0,0,  # GYRO_Y
196 |      0.000025,  0,0,0,0,0,0,  # GYRO_Z
197 |      0.002500,  0,0,0,0,0,0,  # ACCEL_X
198 |      0.002500,  0,0,0,0,0,0,  # ACCEL_Y
199 |      0.002500],               # ACCEL_Z
200 | 
201 | Rsonar: 0.01, # SONAR VARIANCE
202 | 
203 | Rbaro: 0.01, # BAROMETER VARIANCE
204 | 
205 | Rmag: 0.0004, # MAGNETOMETER VARIANCE
206 | 
207 | Rgps: [0.000441, 0,0,  # PN
208 |        0.000441],      # PE
209 | 
210 | Ratt: [0.0001, 0,0,   # PHI
211 |        0.0001],       # THETA
212 | 
213 | declination: 0.198584539676  # MAGNETIC DECLINATION (PROVO, UT)
214 | 
215 | }
216 | 
217 | ### Sensor Parameters ###
218 | 
219 | # Odometry (Ground Truth)
220 | odometry: {
221 | 
222 | transform_topic: ground_truth/transform,
223 | odometry_topic: ground_truth/odometry
224 | 
225 | }
226 | 
227 | # IMU
228 | imu: {
229 | 
230 | noise_on: true,
231 | topic: imu/data,
232 | rate: 500,
233 | gyro_bias_topic: imu/gyro_bias,
234 | gyro_stdev: 0.00,
235 | gyro_bias_range: 0.00,
236 | gyro_bias_walk_stdev: 0.000,
237 | acc_bias_topic: imu/acc_bias,
238 | acc_stdev: 0.0,
239 | acc_bias_range: 0.0,
240 | acc_bias_walk_stdev: 0.000
241 | # noise_on: true,
242 | # topic: imu/data,
243 | # rate: 500,
244 | # gyro_bias_topic: imu/gyro_bias,
245 | # gyro_stdev: 0.005,
246 | # gyro_bias_range: 0.005,
247 | # gyro_bias_walk_stdev: 0.0001,
248 | # acc_bias_topic: imu/acc_bias,
249 | # acc_stdev: 0.05,
250 | # acc_bias_range: 0.01,
251 | # acc_bias_walk_stdev: 0.0001
252 | 
253 | }
254 | 
255 | # Barometer
256 | barometer: {
257 | 
258 | noise_on: true,
259 | topic: baro/data,
260 | rate: 50.0,
261 | stdev: 0.1
262 | 
263 | }
264 | 
265 | # Sonar
266 | # this is still implemented the old way, we need to write a custom plugin to use the ROS parameter server like the others
267 | 
268 | # Magnetometer
269 | magnetometer: {
270 | 
271 | noise_on: true,
272 | rate: 100.0,
273 | topic: mag/data,
274 | stdev: 0.02,
275 | bias_range: 0.0,
276 | declination: 0.198584539676,
277 | inclination: 1.14316156541
278 | 
279 | }
280 | 
281 | # GPS
282 | gps: {
283 | 
284 | noise_on: true,
285 | rate: 10.0,
286 | topic: gps/data,
287 | north_stdev: 0.021,
288 | east_stdev: 0.021,
289 | alt_stdev: 0.040,
290 | k_north: 0.0009090909, # 1/1100
291 | k_east: 0.0009090909, # 1/1100
292 | k_alt: 0.0009090909, # 1/1100
293 | initial_latitude: 40.267320,
294 | initial_longitude: -111.635629,
295 | initial_altitude: 1387.0,
296 | num_sats: 7
297 | 
298 | }
299 | 


--------------------------------------------------------------------------------
/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 2.8.3)
  2 | project(EKF-SLAM)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED COMPONENTS
 11 |   roscpp
 12 |   rospy
 13 | )
 14 | 
 15 | ## System dependencies are found with CMake's conventions
 16 | # find_package(Boost REQUIRED COMPONENTS system)
 17 | 
 18 | 
 19 | ## Uncomment this if the package has a setup.py. This macro ensures
 20 | ## modules and global scripts declared therein get installed
 21 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 22 | # catkin_python_setup()
 23 | 
 24 | ################################################
 25 | ## Declare ROS messages, services and actions ##
 26 | ################################################
 27 | 
 28 | ## To declare and build messages, services or actions from within this
 29 | ## package, follow these steps:
 30 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 31 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 32 | ## * In the file package.xml:
 33 | ##   * add a build_depend tag for "message_generation"
 34 | ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
 35 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 36 | ##     but can be declared for certainty nonetheless:
 37 | ##     * add a run_depend tag for "message_runtime"
 38 | ## * In this file (CMakeLists.txt):
 39 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 40 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 41 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 42 | ##     catkin_package(CATKIN_DEPENDS ...)
 43 | ##   * uncomment the add_*_files sections below as needed
 44 | ##     and list every .msg/.srv/.action file to be processed
 45 | ##   * uncomment the generate_messages entry below
 46 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 47 | 
 48 | ## Generate messages in the 'msg' folder
 49 | # add_message_files(
 50 | #   FILES
 51 | #   Message1.msg
 52 | #   Message2.msg
 53 | # )
 54 | 
 55 | ## Generate services in the 'srv' folder
 56 | # add_service_files(
 57 | #   FILES
 58 | #   Service1.srv
 59 | #   Service2.srv
 60 | # )
 61 | 
 62 | ## Generate actions in the 'action' folder
 63 | # add_action_files(
 64 | #   FILES
 65 | #   Action1.action
 66 | #   Action2.action
 67 | # )
 68 | 
 69 | ## Generate added messages and services with any dependencies listed here
 70 | # generate_messages(
 71 | #   DEPENDENCIES
 72 | #   std_msgs  # Or other packages containing msgs
 73 | # )
 74 | 
 75 | ################################################
 76 | ## Declare ROS dynamic reconfigure parameters ##
 77 | ################################################
 78 | 
 79 | ## To declare and build dynamic reconfigure parameters within this
 80 | ## package, follow these steps:
 81 | ## * In the file package.xml:
 82 | ##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
 83 | ## * In this file (CMakeLists.txt):
 84 | ##   * add "dynamic_reconfigure" to
 85 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 86 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 87 | ##     and list every .cfg file to be processed
 88 | 
 89 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 90 | # generate_dynamic_reconfigure_options(
 91 | #   cfg/DynReconf1.cfg
 92 | #   cfg/DynReconf2.cfg
 93 | # )
 94 | 
 95 | ###################################
 96 | ## catkin specific configuration ##
 97 | ###################################
 98 | ## The catkin_package macro generates cmake config files for your package
 99 | ## Declare things to be passed to dependent projects
100 | ## INCLUDE_DIRS: uncomment this if you package contains header files
101 | ## LIBRARIES: libraries you create in this project that dependent projects also need
102 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
103 | ## DEPENDS: system dependencies of this project that dependent projects also need
104 | catkin_package(
105 | #  INCLUDE_DIRS include
106 | #  LIBRARIES EKF-SLAM
107 | #  CATKIN_DEPENDS roscpp rospy
108 | #  DEPENDS system_lib
109 | )
110 | 
111 | ###########
112 | ## Build ##
113 | ###########
114 | 
115 | ## Specify additional locations of header files
116 | ## Your package locations should be listed before other locations
117 | include_directories(
118 | # include
119 |   ${catkin_INCLUDE_DIRS}
120 | )
121 | 
122 | ## Declare a C++ library
123 | # add_library(${PROJECT_NAME}
124 | #   src/${PROJECT_NAME}/EKF-SLAM.cpp
125 | # )
126 | 
127 | ## Add cmake target dependencies of the library
128 | ## as an example, code may need to be generated before libraries
129 | ## either from message generation or dynamic reconfigure
130 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
131 | 
132 | ## Declare a C++ executable
133 | ## With catkin_make all packages are built within a single CMake context
134 | ## The recommended prefix ensures that target names across packages don't collide
135 | # add_executable(${PROJECT_NAME}_node src/EKF-SLAM_node.cpp)
136 | 
137 | ## Rename C++ executable without prefix
138 | ## The above recommended prefix causes long target names, the following renames the
139 | ## target back to the shorter version for ease of user use
140 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
141 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
142 | 
143 | ## Add cmake target dependencies of the executable
144 | ## same as for the library above
145 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
146 | 
147 | ## Specify libraries to link a library or executable target against
148 | # target_link_libraries(${PROJECT_NAME}_node
149 | #   ${catkin_LIBRARIES}
150 | # )
151 | 
152 | #############
153 | ## Install ##
154 | #############
155 | 
156 | # all install targets should use catkin DESTINATION variables
157 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
158 | 
159 | ## Mark executable scripts (Python etc.) for installation
160 | ## in contrast to setup.py, you can choose the destination
161 | # install(PROGRAMS
162 | #   scripts/my_python_script
163 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
164 | # )
165 | 
166 | ## Mark executables and/or libraries for installation
167 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
168 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
169 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
170 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
171 | # )
172 | 
173 | ## Mark cpp header files for installation
174 | # install(DIRECTORY include/${PROJECT_NAME}/
175 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
176 | #   FILES_MATCHING PATTERN "*.h"
177 | #   PATTERN ".svn" EXCLUDE
178 | # )
179 | 
180 | ## Mark other files for installation (e.g. launch and bag files, etc.)
181 | # install(FILES
182 | #   # myfile1
183 | #   # myfile2
184 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
185 | # )
186 | 
187 | #############
188 | ## Testing ##
189 | #############
190 | 
191 | ## Add gtest based cpp test target and link libraries
192 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_EKF-SLAM.cpp)
193 | # if(TARGET ${PROJECT_NAME}-test)
194 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
195 | # endif()
196 | 
197 | ## Add folders to be run by python nosetests
198 | # catkin_add_nosetests(test)
199 | 


--------------------------------------------------------------------------------
/src/aruco_measure.py:
--------------------------------------------------------------------------------
  1 | #!/usr/bin/env python
  2 | # Python implementation of "ekf_slam"
  3 | 
  4 | import rospy
  5 | from nav_msgs.msg import Odometry
  6 | from sensor_msgs.msg import Imu
  7 | from std_msgs.msg import Float32
  8 | from aruco_localization.msg import MarkerMeasurementArray
  9 | from math import *
 10 | import numpy as np
 11 | import tf
 12 | 
 13 | class ekf_slam:
 14 |     #init functions
 15 |     def __init__(self):
 16 |         #init stuff
 17 |         #get stuff
 18 | 
 19 |         # Estimator stuff
 20 |         # x = pn, pe, pd, u, v, w, phi, theta, psi
 21 |         self.xhat = np.zeros((9,1))
 22 |         self.xhat_odom = Odometry()
 23 | 
 24 |         # Covariance matrix
 25 |         self.P = np.diag([0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01])
 26 | 
 27 |         # Measurements stuff
 28 |         # Truth
 29 |         self.truth_pn = 0.0
 30 |         self.truth_pe = 0.0
 31 |         self.truth_pd = 0.0
 32 |         self.truth_phi = 0.0
 33 |         self.truth_theta = 0.0
 34 |         self.truth_psi = 0.0
 35 |         self.truth_p = 0.0
 36 |         self.truth_q = 0.0
 37 |         self.truth_r = 0.0
 38 |         self.truth_pndot = 0.0
 39 |         self.truth_pedot = 0.0
 40 |         self.truth_pddot = 0.0
 41 | 
 42 |         #aruco Stuff
 43 |         self.aruco_location = {
 44 |         100:[0.0, 0.0, 0.0],
 45 |         101:[0.0, 14.5, 5.0],
 46 |         102:[5.0, 14.5, 5.0],
 47 |         103:[-5.0, 14.5, 5.0],
 48 |         104:[0.0, -14.5, 5.0],
 49 |         105:[5.0, -14.5, 5.0],
 50 |         106:[-5.0, -14.5, 5.0],
 51 |         107:[7.0, 0.0, 5.0],
 52 |         108:[7.0, 7.5, 5.0],
 53 |         109:[7.0, -7.5, 5.0],
 54 |         110:[-7.0, 0.0, 5.0],
 55 |         111:[-7.0, 7.5, 5.0],
 56 |         112:[-7.0, -7.5, 5.0],
 57 |         }
 58 | 
 59 |         # IMU Stuff
 60 |         self.imu_p = 0.0
 61 |         self.imu_q = 0.0
 62 |         self.imu_r = 0.0
 63 |         self.imu_ax = 0.0
 64 |         self.imu_ay = 0.0
 65 |         self.imu_az = 0.0
 66 | 
 67 |         # Constants
 68 |         self.g = 9.8
 69 | 
 70 |         # ROS Stuff
 71 |         # Init subscribers
 72 |         self.truth_sub_ = rospy.Subscriber('/slammer/ground_truth/odometry/NED', Odometry, self.truth_callback)
 73 |         self.imu_sub_ = rospy.Subscriber('/slammer/imu/data', Imu, self.imu_callback)
 74 |         self.aruco_sub = rospy.Subscriber('/aruco/measurements', MarkerMeasurementArray, self.aruco_meas_callback )
 75 | 
 76 |         # Init publishers
 77 |         self.estimate_pub_ = rospy.Publisher('ekf_estimate', Odometry, queue_size=10)
 78 | 
 79 | 
 80 |         # Init Timer
 81 |         self.propagate_rate_ = 100. #
 82 |         self.update_timer_ = rospy.Timer(rospy.Duration(1.0/self.propagate_rate_), self.propagate)
 83 | 
 84 | 
 85 | 
 86 | 
 87 |     def propagate(self, event):
 88 |         # for i in range(0,self.N_):
 89 |         cp = cos(self.truth_phi) # cos(phi)
 90 |         sp = sin(self.truth_phi) # sin(phi)
 91 |         tt = tan(self.truth_theta) # tan(theta)
 92 |         ct = cos(self.truth_theta) # cos(theta)
 93 |         st = sin(self.truth_theta) # cos(theta)
 94 | 
 95 |         # cp = cos(self.xhat[6]) # cos(phi)
 96 |         # sp = sin(self.xhat[6]) # sin(phi)
 97 |         # tt = tan(self.xhat[7]) # tan(theta)
 98 |         # ct = cos(self.xhat[7]) # cos(theta)
 99 |         # st = sin(self.xhat[7]) # cos(theta)
100 | 
101 |         p = self.imu_p
102 |         q = self.imu_q
103 |         r = self.imu_r
104 | 
105 |         # self.f = np.array([[p_x_dot],   # pndot
106 |         # [p_y_dot],                      # pedot
107 |         # [p_z_dot],                      # pddot
108 |         # [cp*st*a_z],                    # udot
109 |         # [-sp*az],                       # vdot
110 |         # [g+cp*ct*a_z],                  # wdot
111 |         # [p+q*sp*tt + r*cp*tt],          # phidot
112 |         # [q*sp- r*sp],                   # thetadot
113 |         # [q*sp/ct+ r*cp/ct]])            # psidot
114 | 
115 |         self.f = np.array([[self.truth_pndot],   # pndot
116 |         [self.truth_pedot],                      # pedot
117 |         [self.truth_pddot],                      # pddot
118 |         [cp*st*self.imu_az],                    # udot
119 |         [-sp*self.imu_az],                       # vdot
120 |         [self.g+cp*ct*self.imu_az],                  # wdot
121 |         [p+q*sp*tt + r*cp*tt],          # phidot
122 |         [q*sp- r*sp],                   # thetadot
123 |         [q*sp/ct+ r*cp/ct]])            # psidot
124 | 
125 |         # x_hat += (params.Ts/self.N_)*self.f
126 |         self.xhat += (1./self.propagate_rate_)*self.f
127 | 
128 |         A = np.array([[0, 0, 0, 1, 0, 0, 0, 0, 0],
129 |         [0, 0, 0, 0, 1, 0, 0, 0, 0],
130 |         [0, 0, 0, 0, 0, 1, 0, 0, 0],
131 |         [0, 0, 0, 0, 0, 0, -sp*st*self.imu_az, cp*ct*self.imu_az, 0],
132 |         [0, 0, 0, 0, 0, 0, -cp*self.imu_az, 0, 0],
133 |         [0, 0, 0, 0, 0, 0, -sp*ct*self.imu_az, -cp*st*self.imu_az, 0],
134 |         [0, 0, 0, 0, 0, 0, q*cp*tt-r*sp*tt, (q*sp+r*cp)/(ct)**2, 0],
135 |         [0, 0, 0, 0, 0, 0, -q*sp-r*cp, 0, 0],
136 |         [0, 0, 0, 0, 0, 0, (q*cp-r*sp)/ct, -(q*sp+r*cp)*tt/ct, 0]])
137 | 
138 |         # P = P + (T_out/N)*(np.matmul(A,P)+np.matmul(P,A.T)+np.matmul(G,Q,G.T))
139 |         # print self.P
140 |         # print [0,0,0,0,0,0,-sp*st*self.imu_az,cp*ct*self.imu_az,0]
141 |         self.P = self.P + (1./self.propagate_rate_)*(np.matmul(A,self.P)+np.matmul(self.P,A.T))#+np.matmul(G,Q,G.T))
142 | 
143 |         # TODO Move this to its own func
144 |         # pack up estimate to ROS msg and publish
145 |         self.xhat_odom.pose.pose.position.x = self.xhat[0] # pn
146 |         self.xhat_odom.pose.pose.position.y = self.xhat[1] # pe
147 |         self.xhat_odom.pose.pose.position.z = self.xhat[2] # pd
148 |         self.xhat_odom.twist.twist.linear.x = self.xhat[3] # u
149 |         self.xhat_odom.twist.twist.linear.y = self.xhat[4] # v
150 |         self.xhat_odom.twist.twist.linear.z = self.xhat[5] # w
151 | 
152 |         # These are euler angles
153 |         self.xhat_odom.pose.pose.orientation.x = self.xhat[6] # phi
154 |         self.xhat_odom.pose.pose.orientation.y = self.xhat[7] # theta
155 |         self.xhat_odom.pose.pose.orientation.z = self.xhat[8] # psi
156 | 
157 |         self.estimate_pub_.publish(self.xhat_odom)
158 | 
159 |     def update(self):
160 |         m = self.aruco_location[self.aruco_id]
161 |         rangehat = np.double(np.sqrt((m[0]-self.xhat[0])**2 + (-m[1]-self.xhat[1])**2))
162 | 
163 |         zhat = np.array([[rangehat],
164 |                         [np.arctan2(-m[1]-self.xhat[1],m[0]-self.xhat[0])-self.xhat[8]]])
165 | 
166 |         C = np.array([[np.double(-(m[0]-self.xhat[0])/rangehat) , -((-m[1])-self.xhat[1])/rangehat,0,0,0,0,0,0,0 ],
167 |                            [((-m[1])-self.xhat[1])/rangehat**2  , -(m[0]-self.xhat[0])/rangehat**2,0,0,0,0,0,0,-1]])
168 | 
169 |         # print self.aruco_id, self.xhat[0], self.xhat[1], self.range, self.H
170 |         S = np.matmul(C,np.matmul(self.P,C.T))#+self.Q
171 |         self.L =np.matmul(self.P,np.matmul(C.T,np.linalg.inv(S)))
172 | 
173 |         self.xhat = self.xhat + np.matmul(self.L,(self.z-zhat))
174 |         self.P = np.matmul((np.identity(9)-np.matmul(self.L,C)),self.P)
175 | 
176 |         # Callback Functions
177 |     def truth_callback(self, msg):
178 | 
179 |         # Map msg to class variables
180 |         self.truth_pn = msg.pose.pose.position.x
181 |         self.truth_pe = msg.pose.pose.position.y
182 |         self.truth_pd = msg.pose.pose.position.z
183 | 
184 |         quat = (
185 |         msg.pose.pose.orientation.x,
186 |         msg.pose.pose.orientation.y,
187 |         msg.pose.pose.orientation.z,
188 |         msg.pose.pose.orientation.w)
189 |         euler = tf.transformations.euler_from_quaternion(quat)
190 | 
191 |         self.truth_phi = euler[0]
192 |         self.truth_theta = euler[1]
193 |         self.truth_psi = euler[2]
194 | 
195 |         self.truth_p = msg.twist.twist.angular.x
196 |         self.truth_q = msg.twist.twist.angular.y
197 |         self.truth_r = msg.twist.twist.angular.z
198 |         self.truth_pndot = msg.twist.twist.linear.x
199 |         self.truth_pedot = msg.twist.twist.linear.y
200 |         self.truth_pddot = msg.twist.twist.linear.z
201 | 
202 |     def imu_callback(self, msg):
203 | 
204 |         # Map msg to class variables
205 | 
206 |         # Angular rates
207 |         self.imu_p = msg.angular_velocity.x
208 |         self.imu_q = msg.angular_velocity.y
209 |         self.imu_r = msg.angular_velocity.z
210 | 
211 |         # Linear accel
212 |         self.imu_ax = msg.linear_acceleration.x
213 |         self.imu_ay = msg.linear_acceleration.y
214 |         self.imu_az = msg.linear_acceleration.z
215 | 
216 |     def aruco_meas_callback(self, msg):
217 |         if len(msg.poses)>0:
218 |             for i in range (0,len(msg.poses)):
219 |                 self.aruco_id = msg.poses[i].aruco_id
220 | 
221 |                 self.aruco_x = msg.poses[i].position.x
222 |                 self.aruco_y = msg.poses[i].position.y
223 |                 self.aruco_z = msg.poses[i].position.z
224 | 
225 |                 self.aruco_phi = msg.poses[i].euler.x
226 |                 self.aruco_theta = msg.poses[i].euler.y
227 |                 self.aruco_psi = msg.poses[i].euler.z
228 | 
229 |                 self.range = np.sqrt(self.aruco_x**2 + self.aruco_y**2 + self.aruco_z**2)
230 |                 self.bearing_2d = np.arctan2(self.aruco_x,self.aruco_z)#-self.truth_psi
231 |                 self.z = np.array([[self.range],[self.bearing_2d]])
232 |                 self.update()
233 | 
234 | ##############################
235 | #### Main Function to Run ####
236 | ##############################
237 | if __name__ == '__main__':
238 |     # Initialize Node
239 |     rospy.init_node('slam_estimator')
240 | 
241 |     # init path_manager_base object
242 |     estimator = ekf_slam()
243 | 
244 |     rospy.spin()
245 | 


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/meshes/aruco3.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco3_png" name="aruco3_png">
106 |       <init_from>aruco3.png</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco3_png-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco3_png</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco3_png-sampler">
118 |           <sampler2D>
119 |             <source>aruco3_png-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco3_png-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
156 |           <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
168 |             <accessor source="#Cube_001-mesh-normals-array" count="8" stride="3">
169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco100.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco100_jpg" name="aruco100_jpg">
106 |       <init_from>aruco100.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco100_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco100_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco100_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco100_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco100_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
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157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
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169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco101.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco101_jpg" name="aruco101_jpg">
106 |       <init_from>aruco101.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco101_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco101_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco101_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco101_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco101_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
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157 |           <technique_common>
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160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
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167 |           <technique_common>
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170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
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179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco102.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco102_jpg" name="aruco102_jpg">
106 |       <init_from>aruco102.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco102_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco102_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco102_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco102_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco102_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
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157 |           <technique_common>
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159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
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162 |             </accessor>
163 |           </technique_common>
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco103.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco103_jpg" name="aruco103_jpg">
106 |       <init_from>aruco103.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco103_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco103_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco103_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco103_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco103_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
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157 |           <technique_common>
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160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
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169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco104.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco104_png" name="aruco104_png">
106 |       <init_from>aruco104.png</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco104_png-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco104_png</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco104_png-sampler">
118 |           <sampler2D>
119 |             <source>aruco104_png-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco104_png-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
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157 |           <technique_common>
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159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
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173 |           </technique_common>
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco105.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco105_jpg" name="aruco105_jpg">
106 |       <init_from>aruco105.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco105_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco105_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco105_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco105_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco105_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
156 |           <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
168 |             <accessor source="#Cube_001-mesh-normals-array" count="8" stride="3">
169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco106.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco106_jpg" name="aruco106_jpg">
106 |       <init_from>aruco106.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco106_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco106_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco106_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco106_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco106_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
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157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
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167 |           <technique_common>
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172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco107.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco107_jpg" name="aruco107_jpg">
106 |       <init_from>aruco107.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco107_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco107_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco107_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco107_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco107_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
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157 |           <technique_common>
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160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
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170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco108.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco108_jpg" name="aruco108_jpg">
106 |       <init_from>aruco108.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco108_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco108_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco108_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco108_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco108_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
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157 |           <technique_common>
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159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
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173 |           </technique_common>
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
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193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco109.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco109_jpg" name="aruco109_jpg">
106 |       <init_from>aruco109.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco109_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco109_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco109_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco109_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco109_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
156 |           <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
168 |             <accessor source="#Cube_001-mesh-normals-array" count="8" stride="3">
169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco110.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco110_jpg" name="aruco110_jpg">
106 |       <init_from>aruco110.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco110_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco110_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco110_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco110_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco110_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
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157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
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169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco111.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco111_jpg" name="aruco111_jpg">
106 |       <init_from>aruco111.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco111_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco111_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco111_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco111_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco111_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
156 |           <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
168 |             <accessor source="#Cube_001-mesh-normals-array" count="8" stride="3">
169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco112.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco112_jpg" name="aruco112_jpg">
106 |       <init_from>aruco112.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco112_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco112_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco112_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco112_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco112_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
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157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
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167 |           <technique_common>
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169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
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177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


--------------------------------------------------------------------------------
/meshes/aruco113.dae:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="utf-8"?>
  2 | <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
  3 |   <asset>
  4 |     <contributor>
  5 |       <author>Blender User</author>
  6 |       <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
  7 |     </contributor>
  8 |     <created>2017-05-25T17:34:32</created>
  9 |     <modified>2017-05-25T17:34:32</modified>
 10 |     <unit name="meter" meter="1"/>
 11 |     <up_axis>Z_UP</up_axis>
 12 |   </asset>
 13 |   <library_cameras>
 14 |     <camera id="Camera-camera" name="Camera">
 15 |       <optics>
 16 |         <technique_common>
 17 |           <perspective>
 18 |             <xfov sid="xfov">49.13434</xfov>
 19 |             <aspect_ratio>1.777778</aspect_ratio>
 20 |             <znear sid="znear">0.1</znear>
 21 |             <zfar sid="zfar">100</zfar>
 22 |           </perspective>
 23 |         </technique_common>
 24 |       </optics>
 25 |       <extra>
 26 |         <technique profile="blender">
 27 |           <YF_dofdist>0</YF_dofdist>
 28 |           <shiftx>0</shiftx>
 29 |           <shifty>0</shifty>
 30 |         </technique>
 31 |       </extra>
 32 |     </camera>
 33 |   </library_cameras>
 34 |   <library_lights>
 35 |     <light id="Lamp-light" name="Lamp">
 36 |       <technique_common>
 37 |         <point>
 38 |           <color sid="color">1 1 1</color>
 39 |           <constant_attenuation>1</constant_attenuation>
 40 |           <linear_attenuation>0</linear_attenuation>
 41 |           <quadratic_attenuation>0.00111109</quadratic_attenuation>
 42 |         </point>
 43 |       </technique_common>
 44 |       <extra>
 45 |         <technique profile="blender">
 46 |           <adapt_thresh>0.000999987</adapt_thresh>
 47 |           <area_shape>1</area_shape>
 48 |           <area_size>0.1</area_size>
 49 |           <area_sizey>0.1</area_sizey>
 50 |           <area_sizez>1</area_sizez>
 51 |           <atm_distance_factor>1</atm_distance_factor>
 52 |           <atm_extinction_factor>1</atm_extinction_factor>
 53 |           <atm_turbidity>2</atm_turbidity>
 54 |           <att1>0</att1>
 55 |           <att2>1</att2>
 56 |           <backscattered_light>1</backscattered_light>
 57 |           <bias>1</bias>
 58 |           <blue>1</blue>
 59 |           <buffers>1</buffers>
 60 |           <bufflag>0</bufflag>
 61 |           <bufsize>2880</bufsize>
 62 |           <buftype>2</buftype>
 63 |           <clipend>30.002</clipend>
 64 |           <clipsta>1.000799</clipsta>
 65 |           <compressthresh>0.04999995</compressthresh>
 66 |           <dist sid="blender_dist">29.99998</dist>
 67 |           <energy sid="blender_energy">1</energy>
 68 |           <falloff_type>2</falloff_type>
 69 |           <filtertype>0</filtertype>
 70 |           <flag>0</flag>
 71 |           <gamma sid="blender_gamma">1</gamma>
 72 |           <green>1</green>
 73 |           <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
 74 |           <horizon_brightness>1</horizon_brightness>
 75 |           <mode>8192</mode>
 76 |           <ray_samp>1</ray_samp>
 77 |           <ray_samp_method>1</ray_samp_method>
 78 |           <ray_samp_type>0</ray_samp_type>
 79 |           <ray_sampy>1</ray_sampy>
 80 |           <ray_sampz>1</ray_sampz>
 81 |           <red>1</red>
 82 |           <samp>3</samp>
 83 |           <shadhalostep>0</shadhalostep>
 84 |           <shadow_b sid="blender_shadow_b">0</shadow_b>
 85 |           <shadow_g sid="blender_shadow_g">0</shadow_g>
 86 |           <shadow_r sid="blender_shadow_r">0</shadow_r>
 87 |           <sky_colorspace>0</sky_colorspace>
 88 |           <sky_exposure>1</sky_exposure>
 89 |           <skyblendfac>1</skyblendfac>
 90 |           <skyblendtype>1</skyblendtype>
 91 |           <soft>3</soft>
 92 |           <spotblend>0.15</spotblend>
 93 |           <spotsize>75</spotsize>
 94 |           <spread>1</spread>
 95 |           <sun_brightness>1</sun_brightness>
 96 |           <sun_effect_type>0</sun_effect_type>
 97 |           <sun_intensity>1</sun_intensity>
 98 |           <sun_size>1</sun_size>
 99 |           <type>0</type>
100 |         </technique>
101 |       </extra>
102 |     </light>
103 |   </library_lights>
104 |   <library_images>
105 |     <image id="aruco113_jpg" name="aruco113_jpg">
106 |       <init_from>aruco113.jpg</init_from>
107 |     </image>
108 |   </library_images>
109 |   <library_effects>
110 |     <effect id="Material_001-effect">
111 |       <profile_COMMON>
112 |         <newparam sid="aruco113_jpg-surface">
113 |           <surface type="2D">
114 |             <init_from>aruco113_jpg</init_from>
115 |           </surface>
116 |         </newparam>
117 |         <newparam sid="aruco113_jpg-sampler">
118 |           <sampler2D>
119 |             <source>aruco113_jpg-surface</source>
120 |           </sampler2D>
121 |         </newparam>
122 |         <technique sid="common">
123 |           <phong>
124 |             <emission>
125 |               <color sid="emission">1 1 1 1</color>
126 |             </emission>
127 |             <ambient>
128 |               <color sid="ambient">1 1 1 1</color>
129 |             </ambient>
130 |             <diffuse>
131 |               <texture texture="aruco113_jpg-sampler" texcoord="UVMap"/>
132 |             </diffuse>
133 |             <specular>
134 |               <color sid="specular">0.5 0.5 0.5 1</color>
135 |             </specular>
136 |             <shininess>
137 |               <float sid="shininess">50</float>
138 |             </shininess>
139 |             <index_of_refraction>
140 |               <float sid="index_of_refraction">1</float>
141 |             </index_of_refraction>
142 |           </phong>
143 |         </technique>
144 |       </profile_COMMON>
145 |     </effect>
146 |   </library_effects>
147 |   <library_materials>
148 |     <material id="Material_001-material" name="Material_001">
149 |       <instance_effect url="#Material_001-effect"/>
150 |     </material>
151 |   </library_materials>
152 |   <library_geometries>
153 |     <geometry id="Cube_001-mesh" name="Cube.001">
154 |       <mesh>
155 |         <source id="Cube_001-mesh-positions">
156 |           <float_array id="Cube_001-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
157 |           <technique_common>
158 |             <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
159 |               <param name="X" type="float"/>
160 |               <param name="Y" type="float"/>
161 |               <param name="Z" type="float"/>
162 |             </accessor>
163 |           </technique_common>
164 |         </source>
165 |         <source id="Cube_001-mesh-normals">
166 |           <float_array id="Cube_001-mesh-normals-array" count="24">-0.5773503 -0.5773503 0.5773503 -0.5773503 0.5773503 -0.5773503 -0.5773503 -0.5773503 -0.5773503 -0.5773503 0.5773503 0.5773503 0.5773503 0.5773503 -0.5773503 0.5773503 0.5773503 0.5773503 0.5773503 -0.5773503 -0.5773503 0.5773503 -0.5773503 0.5773503</float_array>
167 |           <technique_common>
168 |             <accessor source="#Cube_001-mesh-normals-array" count="8" stride="3">
169 |               <param name="X" type="float"/>
170 |               <param name="Y" type="float"/>
171 |               <param name="Z" type="float"/>
172 |             </accessor>
173 |           </technique_common>
174 |         </source>
175 |         <source id="Cube_001-mesh-map-0">
176 |           <float_array id="Cube_001-mesh-map-0-array" count="72">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 9.998e-5 0.9999001 0.9998999 9.998e-5 0.9998999 0.9998999 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 9.998e-5 0.9999001 1.0004e-4 9.998e-5 0.9998999 9.998e-5</float_array>
177 |           <technique_common>
178 |             <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
179 |               <param name="S" type="float"/>
180 |               <param name="T" type="float"/>
181 |             </accessor>
182 |           </technique_common>
183 |         </source>
184 |         <vertices id="Cube_001-mesh-vertices">
185 |           <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
186 |         </vertices>
187 |         <polylist material="Material_001-material" count="12">
188 |           <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
189 |           <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
190 |           <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
191 |           <vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
192 |           <p>1 0 0 2 1 1 0 2 2 3 3 3 6 4 4 2 1 5 7 5 6 4 6 7 6 4 8 5 7 9 0 2 10 4 6 11 6 4 12 0 2 13 2 1 14 3 3 15 5 7 16 7 5 17 1 0 18 3 3 19 2 1 20 3 3 21 7 5 22 6 4 23 7 5 24 5 7 25 4 6 26 5 7 27 1 0 28 0 2 29 6 4 30 4 6 31 0 2 32 3 3 33 1 0 34 5 7 35</p>
193 |         </polylist>
194 |       </mesh>
195 |     </geometry>
196 |   </library_geometries>
197 |   <library_controllers/>
198 |   <library_visual_scenes>
199 |     <visual_scene id="Scene" name="Scene">
200 |       <node id="Camera" name="Camera" type="NODE">
201 |         <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
202 |         <instance_camera url="#Camera-camera"/>
203 |       </node>
204 |       <node id="Lamp" name="Lamp" type="NODE">
205 |         <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 -0.143273 0.9551712 -0.1998834 0.2183912 0.01022726 -0.05518906 0.6045247 0.7946723 0.2347317 0 0 0 1</matrix>
206 |         <instance_light url="#Lamp-light"/>
207 |       </node>
208 |       <node id="Cube" name="Cube" type="NODE">
209 |         <matrix sid="transform">0.375 0 0 0 0 0.375 0 0 0 0 0.005 0 0 0 0 1</matrix>
210 |         <instance_geometry url="#Cube_001-mesh" name="Cube">
211 |           <bind_material>
212 |             <technique_common>
213 |               <instance_material symbol="Material_001-material" target="#Material_001-material">
214 |                 <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
215 |               </instance_material>
216 |             </technique_common>
217 |           </bind_material>
218 |         </instance_geometry>
219 |       </node>
220 |     </visual_scene>
221 |   </library_visual_scenes>
222 |   <scene>
223 |     <instance_visual_scene url="#Scene"/>
224 |   </scene>
225 | </COLLADA>
226 | 


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