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Camera

Sensor type that can generate an image or byte-string rendering the elements in the workspace.

Mandatory children

  • Width: Camera image width in pixels.

    • Var: smtk_int
    • Type: Input
    • Default: 800

  • Height: Camera image height in pixels.

    • Var: smtk_int
    • Type: Input
    • Default: 600

  • Vertical FOV: Vertical field of view in radians.

    • Var: smtk_float
    • Type: Input
    • Default: 1.047

  • Near: Near clipping plane.

    • Var: smtk_float
    • Type: Input
    • Default: 0.1

  • Far: Far clipping plane.

    • Var: smtk_float
    • Type: Input
    • Default: 100

  • Format: Camera output format.

    • Var: smtk_camera_format_choice
    • Type: Input
    • Possible options: "L" (luminance), "RGB", "D" (Depth), "RGBD".
    • Default: "RGB"

  • Render mode: Camera rendering mode.

    • Var: smtk_camera_mode_choice
    • Type: Constant
    • Possible options: "visual" (renders link's visuals), "collision" (renders link's collisions).
    • Default: "collision"

  • Output mode: Camera output mode.

    • Var: smtk_camera_output_choice
    • Type: Constant
    • Possible options: "stream" (using http:\'IP_ADDRESS'\cameras\'name'.png), "data" (using the output_data).
    • Default: "stream"

  • Output data: Return the raw output information of the sensor.

    • Var: smtk_string
    • Type: Output
    • Default: "none"