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

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, 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

Last updated 12 September 2005 21:38:45