View source for StructuredLightProjector

Structured light projector devices provided a flexible way of simulating laser projectors and lights in  and underwater [[vehicle]]. The only requirement is a texture file which will be projected, in the case of laser projector, the pattern of the laser and in the case of lights a white texture that simulates the scattering. Black colors in the image will be treated as "no projection". This device is used in cirs_sls.xml scene.

== XML syntax ==

In order to add a structured light projector the following tags are required: name, relativeTo, fov and image_name.

* '''name:''' This parameters sets the device name that will identify it.
* '''relativeTo:''' The name of the vehicle's link where the device is attached.
* '''fov:''' Field of view (y axis).
* '''image_name:''' This tag sets the name of the texture file that will be projected in the scene.
* '''laser:''' Changes the light mode from laser (does not attenuate with distance, and does not mix color with the object where it is projected), to light.
* '''position:''' Initial position of the device with respect to the vehicle's link.
* '''orientation:''' Initial rotation of the device with respect to the vehicle's link, stated in RPY.