Overview

This component simulates a camera and/or a range finder.

名称	VirtualCamera
カテゴリ	example
初期化関数名	VirtualCameraInit

Data Ports

Input Ports

port name	data type	unit	description
state	OpenHRP::SceneState	[rad,m]	scene state
q	RTC::TimedDoubleSeq	[rad]	Joint angles(This port is generated when the component is activated)
poseBase	RTC::TimedPose3D	[m],[rad]	position/orientation of the root link(This port is generated when the component is activated)

Output Ports

port name	data type	unit	description
image	RTC::CameraImage		camera image
range	RTC::RangeData		range data
poseSensor	RTC::Pose3D		position/orientation of the sensor
cloud	PointCloudTypes::PointCloud		point cloud

Service Ports

Service Providers

N/A

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
rangerMaxAngle	double	[rad]	0.25	maximum scan angle of the range sensor
rangerMinAngle	double	[rad]	-0.25	minimum scan angle of the range sensor
rangerAngularRes	double	[rad]	0.01	scan resolution of the range sensor
rangerMaxRange	double	[m]	5.0	maximum distance
rangerMinRange	double	[m]	5.0	minimum distance
generateRange	int		1	enable/disable range data generation
generatePointCloud	int		0	enable/disable point cloud generation
generatePointCloudStep	int		1	sub-sampling step of point cloud
generateMovie	int		0	enable/disable camera image generation
debugLevel	int		0	debug level
project	std::string		""	project file. This variable must be set before the component is activated.
camera	std::string		""	name of the body and the camera(ex. body_name:camera_name). This variable must be set before the component is activated.
pcFormat	std::string		"xyz"	output format of point cloud. xyz or xyzrgb

Configuration File

N/A