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.