/usr/share/sdformat/1.5/camera.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 | <element name="camera" required="0">
<description>These elements are specific to camera sensors.</description>
<attribute name="name" type="string" default="__default__" required="0">
<description>An optional name for the camera.</description>
</attribute>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>A position and orientation in the parent coordinate frame for the camera.</description>
</element>
<element name="horizontal_fov" type="double" default="1.047" min="0.1" max="1.5708" required="1">
<description>Horizontal field of view</description>
</element> <!-- End Horizontal_FOV -->
<element name="image" required="1">
<description>The image size in pixels and format.</description>
<element name="width" type="int" default="320" required="1">
<description>Width in pixels</description>
</element>
<element name="height" type="int" default="240" required="1">
<description>Height in pixels </description>
</element>
<element name="format" type="string" default="R8G8B8" required="0">
<description>(L8|R8G8B8|B8G8R8|BAYER_RGGB8|BAYER_BGGR8|BAYER_GBRG8|BAYER_GRBG8)</description>
</element>
</element> <!-- End Image -->
<element name="clip" required="1">
<description>The near and far clip planes. Objects closer or farther than these planes are not rendered.</description>
<element name="near" type="double" default=".1" min="0.0" required="1">
<description>Near clipping plane</description>
</element>
<element name="far" type="double" default="100" min="10.0" required="1">
<description>Far clipping plane</description>
</element>
</element> <!-- End Clip -->
<element name="save" required="0">
<description>Enable or disable saving of camera frames.</description>
<attribute name="enabled" type="bool" default="false" required="1">
<description>True = saving enabled</description>
</attribute>
<element name="path" type="string" default="__default__" required="1">
<description>The path name which will hold the frame data. If path name is relative, then directory is relative to current working directory.</description>
</element>
</element> <!-- End Save -->
<element name="depth_camera" required="0">
<description>Depth camera parameters</description>
<element name="output" type="string" default="depths" required="1">
<description>Type of output</description>
</element>
</element> <!-- End depth_camera -->
<element name="noise" required="0">
<description>The properties of the noise model that should be applied to generated images</description>
<element name="type" type="string" default="gaussian" required="1">
<description>The type of noise. Currently supported types are: "gaussian" (draw additive noise values independently for each pixel from a Gaussian distribution).</description>
</element>
<element name="mean" type="double" default="0.0" required="0">
<description>For type "gaussian," the mean of the Gaussian distribution from which noise values are drawn.</description>
</element>
<element name="stddev" type="double" default="0.0" required="0">
<description>For type "gaussian," the standard deviation of the Gaussian distribution from which noise values are drawn.</description>
</element>
</element> <!-- End Noise -->
</element> <!-- End Camera -->
|