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Observer Camera
[Models]
The ObserverCam model provides a interactive viewport through which users can view the simulation (think of it as a flying god's eye).
- libgazebo interfaces
This model supports the guicam interface.
- Player drivers
There are no Player drivers for this model.
- 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, 32)
- Default: 16
- savePath (string, path)
- Directory for saving image frames.
- Default: .
- saveFrames (bool)
- Set to true to save image frames.
- Default: false
- displayBBox (bool)
- Display model bounding boxes.
- Default: false
- displayAxes (bool)
- Display body axes for each body.
- Default: false
- displayCoM (bool)
- Display center of mass for each body.
- Default: false
- displayRays (bool)
- Display sensor rays (e.g., laser, sonar).
- Default: false
- displayFrustrums (bool)
- Display camera sensor frustrums.
- Default: false
- displayMaterials (bool)
- Use material colors.
- Default: true
- displayTextures (bool)
- Use material textures.
- Default: true
- displaySkins (bool)
- Display object skins.
- Default: true
- polygonFill (bool)
- Display filled polygons.
- Default: true
- shadeSmooth (bool)
- Use smooth shading.
- Default: true
- rollLock (bool)
- Lock out changes to roll (keeps the camera pointed right-way-up).
- Bodies
This model does not have a physical representation.
- Example
<model:ObserverCam>
<id>userCam0</id>
<xyz>-0.506 0.894 0.865</xyz>
<rpy>0 26 -23</rpy>
<imageSize>640 480</imageSize>
<updateRate>.10</updateRate>
</model:ObserverCam>
- Authors
Andrew Howard, Nate Koenig
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