131 lines
6.7 KiB
Plaintext
131 lines
6.7 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="horizontal_fov" type="double" default="1.047" min="0.1" max="6.283186" 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 name="noise" required="0">
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<description>The properties of the noise model that should be applied to generated images</description>
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<element name="type" type="string" default="gaussian" required="1">
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<description>The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).</description>
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</element>
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<element name="mean" type="double" default="0.0" required="0">
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<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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<element name="stddev" type="double" default="0.0" required="0">
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<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
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</element>
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</element> <!-- End Noise -->
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<element name="distortion" required="0">
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<description>Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction</description>
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<element name="k1" type="double" default="0.0" required="0">
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<description>The radial distortion coefficient k1</description>
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</element>
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<element name="k2" type="double" default="0.0" required="0">
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<description>The radial distortion coefficient k2</description>
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</element>
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<element name="k3" type="double" default="0.0" required="0">
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<description>The radial distortion coefficient k3</description>
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</element>
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<element name="p1" type="double" default="0.0" required="0">
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<description>The tangential distortion coefficient p1</description>
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</element>
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<element name="p2" type="double" default="0.0" required="0">
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<description>The tangential distortion coefficient p2</description>
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</element>
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<element name="center" type="vector2d" default="0.5 0.5" required="0">
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<description>The distortion center or principal point</description>
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</element>
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</element> <!-- End Distortion -->
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<element name="lens" required="0">
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<description>Lens projection description</description>
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<element name="type" type="string" default="stereographic" required="1">
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<description>Type of the lens mapping. Supported values are gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom. For gnomonical (perspective) projection, it is recommended to specify a horizontal_fov of less than or equal to 90°</description>
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</element>
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<element name="scale_to_hfov" type="bool" default="true" required="1">
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<description>If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters</description>
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</element>
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<element name="custom_function" required="0">
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<description>Definition of custom mapping function in a form of r=c1*f*fun(theta/c2 + c3). See https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function</description>
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<element name="c1" type="double" default="1" required="0">
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<description>Linear scaling constant</description>
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</element>
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<element name="c2" type="double" default="1" required="0">
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<description>Angle scaling constant</description>
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</element>
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<element name="c3" type="double" default="0" required="0">
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<description>Angle offset constant</description>
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</element>
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<element name="f" type="double" default="1" required="0">
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<description>Focal length of the optical system. Note: It's not a focal length of the lens in a common sense! This value is ignored if 'scale_to_fov' is set to true</description>
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</element>
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<element name="fun" type="string" default="tan" required="1">
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<description>Possible values are 'sin', 'tan' and 'id'</description>
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</element>
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</element> <!-- End Custom Function -->
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<element name="cutoff_angle" type="double" default="1.5707" min="0.0" max="3.141592653" required="0">
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<description>Everything outside of the specified angle will be hidden, 90° by default</description>
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</element>
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<element name="env_texture_size" type="int" default="256" min="4" max="2048" required="0">
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<description>Resolution of the environment cube map used to draw the world</description>
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</element>
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</element> <!-- End Lens -->
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<include filename="frame.sdf" required="*"/>
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<include filename="pose.sdf" required="0"/>
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</element> <!-- End Camera -->
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