59 lines
2.5 KiB
Plaintext
59 lines
2.5 KiB
Plaintext
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<element name="camera" required="0">
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<description>These elements are specific to camera sensors.</description>
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<attribute name="name" type="string" default="__default__" required="0">
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<description>An optional name for the camera.</description>
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</attribute>
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<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
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<description>A position and orientation in the parent coordinate frame for the camera.</description>
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</element>
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<element name="horizontal_fov" type="double" default="1.047" min="0.1" max="1.5708" required="1">
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<description>Horizontal field of view</description>
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</element> <!-- End Horizontal_FOV -->
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<element name="image" required="1">
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<description>The image size in pixels and format.</description>
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<element name="width" type="int" default="320" required="1">
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<description>Width in pixels</description>
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</element>
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<element name="height" type="int" default="240" required="1">
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<description>Height in pixels </description>
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</element>
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<element name="format" type="string" default="R8G8B8" required="0">
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<description>(L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)</description>
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</element>
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</element> <!-- End Image -->
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<element name="clip" required="1">
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<description>The near and far clip planes. Objects closer or farther than these planes are not rendered.</description>
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<element name="near" type="double" default=".1" min="0.0" required="1">
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<description>Near clipping plane</description>
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</element>
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<element name="far" type="double" default="100" min="10.0" required="1">
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<description>Far clipping plane</description>
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</element>
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</element> <!-- End Clip -->
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<element name="save" required="0">
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<description>Enable or disable saving of camera frames.</description>
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<attribute name="enabled" type="bool" default="false" required="1">
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<description>True = saving enabled</description>
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</attribute>
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<element name="path" type="string" default="__default__" required="1">
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<description>The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.</description>
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</element>
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</element> <!-- End Save -->
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<element name="depth_camera" required="0">
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<description>Depth camera parameters</description>
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<element name="output" type="string" default="depths" required="1">
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<description>Type of output</description>
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</element>
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</element> <!-- End depth_camera -->
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</element> <!-- End Camera -->
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