These elements are specific to camera sensors. An optional name for the camera. Horizontal field of view The image size in pixels and format. Width in pixels Height in pixels (L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8) The near and far clip planes. Objects closer or farther than these planes are not rendered. Near clipping plane Far clipping plane Enable or disable saving of camera frames. True = saving enabled The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory. Depth camera parameters Type of output The properties of the noise model that should be applied to generated images The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution). For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn. For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn. Lens distortion to be applied to camera images. See http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction The radial distortion coefficient k1 The radial distortion coefficient k2 The radial distortion coefficient k3 The tangential distortion coefficient p1 The tangential distortion coefficient p2 The distortion center or principal point Lens projection 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° If true the image will be scaled to fit horizontal FOV, otherwise it will be shown according to projection type parameters 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 Linear scaling constant Angle scaling constant Angle offset constant 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 Possible values are 'sin', 'tan' and 'id' Everything outside of the specified angle will be hidden, 90° by default Resolution of the environment cube map used to draw the world