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Canon VCC4 [Models] The CanonVCC4 model simulates the Canon VCC4 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) Near and far clipping planes; see OpenGL Support. Default: 0.5 100.0 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:CanonVCC4> <id>ptz1</id> <xyz>0 0 0</xyz> </model:CanonVCC4> Views Authors Konstantinos Karantzis

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Last updated $Date: 2004/12/21 01:49:15 $

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