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Sony VID 30
[Models]

The SonyVID30 model simulates the Sony VID 30 pan-tilt-zoom camera.

libgazebo interfaces
This model supports the ptz and camera interfaces.

Player drivers
Pan/tilt/zoom information is available through the gz_ptz driver; image data is available through the gz_camera driver.

Attributes
The following attributes are supported.

  • id (string)
    • The model ID string (used by libgazebo to identify models).
    • Default: (empty)
  • xyz (float tuple, meters)
    • Model position (x, y, z, in meters).
    • Default: 0 0 0
  • rpy (float tuple, degrees)
    • Model orientation in Euler angles: roll, pitch, yaw.
    • Default: 0 0 0

  • updateRate (float, Hz)
    • Frames per second.
    • Default: 10

  • imageSize (integer tuple, pixels)
    • Image dimensions (width and height).
    • Default: 320 240

  • hfov (float, degrees)
    • Horizontal field of view for a perspective lens.
    • Default: 60

  • nearClip, farClip (float, meters)

  • renderMethod (string)
    • OpenGL rendering method: SGIX, GLX, XLIB, or AUTO. See OpenGL Support.
    • Default: AUTO

  • zBufferDepth (integer)
    • Z buffer depth in bits (8, 16, 24 or 32)
      • Default: 16

  • savePath (string, path)
    • Directory for saving image frames.
    • Default: .

  • saveFrames (bool)
    • Set to true to save image frames.
    • Default: false

  • useFrustrum (bool)
    • Create a frustrum to provide user feedback in the ObserveCam.
    • Default: true

  • zoomLimits (float tuple)
    • Minimum and maximum zoom factor.
    • Default: 10 60

  • motionGain (float)
    • Servo gain term (P controller on pan, tilt axes).
    • Default: 2

  • zoomGain (float)
    • Servo gain term (P controller on zoom axis).
    • Default: 2

Bodies
The following bodies are created by this model.

  • canonical
    • The canonical (default) body.

Example
<model:SonyVID30>
  <id>ptz1</id>
  <xyz>0 0 0</xyz>  
</model:SonyVID30>

Views

Authors
Nate Koenig, Andrew Howard


Last updated $Date: 2004/12/21 01:49:15 $
Generated on Sun May 22 18:39:09 2005 for Gazebo by doxygen 1.4.2