skbot.ignition.sdformat.generic_sdf.camera.Camera

class skbot.ignition.sdformat.generic_sdf.camera.Camera(*, name='camera', pose=None, horizontal_fov=1.047, image=None, clip=None, save=None, depth_camera=None, noise=None, distortion=None, lense=None, frames=None, visibility_mask=4294967295, sdf_version)[source]

A Camera Sensor.

This element describes the parameters of a perspective camera system with optional lense, noise, and distortion effects. Contrary to common formulations the camera’s direction of view is along the x-axis and the image plane runs parallel to the y-z-plane. If u and v describe the two axis of the of the image plane, then the u-axis runs along the negative y axis, and the v-axis runs along the negative z-axis. The origin of the image plane is along the top left corner of the viewing frustum.

Parameters
namestr

The name of the camera. Default: camera

New in version SDFormat: 1.3

posePose

The camera’s initial position (x,y,z) and orientation (roll, pitch, yaw).

New in version SDFormat: 1.3

horizontal_fovUnion[float, Camera.HorizontalFov]

The viewing frustum’s horizontal angle of view along the image’s u-axis or world’s y-axis. Default: 1.047.

Changed in version SDFormat: 1.2 horizontal_fov is now a float instead of a class.

imageCamera.Image

Layout of the captured images (shape and color format).

clipCamera.Clip

Near and Far clip plane of the camera.

saveCamera.Save

Configuration parameters related to saving rendered images.

depth_cameraCamera.DepthCamera

Configuration parameters related to the depth camera.

noiseCamera.Noise

Parameters for the noise model.

New in version SDFormat: 1.4

distortionCamera.Distortion

Parameters for the distortion model.

New in version SDFormat: 1.5

lenseCamera.Lense

Parameters for the lense model.

New in version SDFormat: 1.5

visibility_mask: int

Visibility mask of a camera. When (camera’s visibility_mask & visual’s visibility_flags) evaluates to non-zero, the visual will be visible to the camera.

New in version SDFormat: 1.7

sdf_versionstr

The SDFormat version to use when constructing this element.

framesList[Frame]

A list of frames of reference in which poses may be expressed.

Deprecated since version SDFormat: v1.7 Use Model.frame instead.

New in version SDFormat: v1.5

Notes

The frustum’s vertical angle of view (along the v-axis / z-axis) chosen using horizontal_fov and the pixel dimension, i.e., the aspect ratio, of the image.

Attributes
namestr

See Parameters section.

posePose

See Parameters section.

horizontal_fovUnion[float, Camera.HorizontalFov]

See Parameters section.

imageCamera.Image

See Parameters section.

clipCamera.Clip

See Parameters section.

saveCamera.Save

See Parameters section.

depth_cameraCamera.DepthCamera

See Parameters section.

noiseCamera.Noise

See Parameters section.

distortionCamera.Distortion

See Parameters section.

lenseCamera.Lense

See Parameters section.

visibility_mask: int

See Parameters section.

__init__(*, name='camera', pose=None, horizontal_fov=1.047, image=None, clip=None, save=None, depth_camera=None, noise=None, distortion=None, lense=None, frames=None, visibility_mask=4294967295, sdf_version)[source]

Methods

__init__(*[, name, pose, horizontal_fov, ...])

declared_frames()

Frames contained in this element.

from_specific(specific, *, version)

Create from version-specific object

to_dynamic_graph(declared_frames, ...[, ...])

Convert to transform graph

to_static_graph(declared_frames, sensor_frame, *)

Convert to transform graph

Attributes

frames