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

gravity (bool)
- Enable/disable effect of gravity on this model
- Default: true

enable (bool)
- Enable/disable the model's bodies (so it doesn't fall, for example)
- Default: true

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

Last updated 12 September 2005 21:38:45