v17.sensor.Sensor.Camera

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v17.sensor.Sensor.Camera(horizontal_fov=1.047, image=None, clip=None, save=None, depth_camera=None, noise=None, distortion=None, lens=None, visibility_mask=4294967295, pose=None, name='__default__')

These elements are specific to camera sensors.

Parameters
horizontal_fov: Horizontal field of view
image: The image size in pixels and format.
clip: The near and far clip planes. Objects closer or farther

than these planes are not rendered.

save: Enable or disable saving of camera frames.
depth_camera: Depth camera parameters
noise: The properties of the noise model that should be applied

to generated images

distortion: Lens distortion to be applied to camera images. See

http://en.wikipedia.org/wiki/Distortion_(optics)#Software_correction

lens: Lens projection description
visibility_mask: 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.

pose: A position(x,y,z) and orientation(roll, pitch yaw) with

respect to the frame named in the relative_to attribute.

name: An optional name for the camera.

Nested Elements

Note that only complex elements are listed here. Elements that resolve to simple types (int, str, bool) are inlined.

v17.sensor.Sensor.Camera.Clip([near, far])

The near and far clip planes.

v17.sensor.Sensor.Camera.DepthCamera([...])

Depth camera parameters.

v17.sensor.Sensor.Camera.Distortion([k1, ...])

Lens distortion to be applied to camera images.

v17.sensor.Sensor.Camera.Image([width, ...])

The image size in pixels and format.

v17.sensor.Sensor.Camera.Lens([type, ...])

Lens projection description.

v17.sensor.Sensor.Camera.Noise([type, mean, ...])

The properties of the noise model that should be applied to generated images.

v17.sensor.Sensor.Camera.Pose([value, ...])

Parameters

v17.sensor.Sensor.Camera.Save([path, enabled])

Enable or disable saving of camera frames.