VirtualCamera

Virtual Cameras can be added in each vehicle present in the scene. This virtual cameras can be configured using a wide variety of parameters to simulate the different devices available nowadays. What virtual cameras see can be displayed in a widget pressing the key "c" in the main view of uwsim. Furthermore the VirtualCameraToROSImage interface provides rosimage publishers.

XML syntax

In order to add a camera to the scene we need assign it a name and a frame in the vehicle. The rest of the parameters are recommended but default values are provided.

• name: This parameters sets the camera name that will identify it.
• relativeTo: The name of the vehicle's link where the camera is attached.
• resw: Width of the camera (pixels).
• resh: Height of the camera (pixels).
• position: Initial position of the camera with respect to the vehicle's link.
• orientation: Initial rotation of the camera with respect to the vehicle's link, stated in RPY.
• baseline: Used in stereo cameras.
• frameId: Name of the frame that will be published in the ROS interface.
• fovy: Field of view (y axis).
• parameters: This tag allows to directly set the intrinsic parameters of the camera in the form of this matrix where:
  • fx: Focal length (x axis).
  • fy: Focal length (y axis).
  • x0: Image principal point (x axis).
  • y0: Image principal point (y axis).
  • f: far plane.
  • n: near plane.
  • k: Distortion related to skew between x and y axis.

2.0fx/w    2.0k/w    1-2x0/w       0
0          2.0fy/h   1-2y0/h       0
0          0         (f+n)/(n-f)   2fn/(n-f)
0          0        -1             0

• showpath: If set displays in the 3D view marks of the camera path.
• grayscale: Sets the camera to be grayScale.
• std: Standard deviation of the gaussian noise generated in the camera. More info here.