stage: Camera model

Collaboration diagram for Camera model:

The camera model simulates a camera

Worldfile properties

Summary and default values

camera
(
  # laser properties
  resolution [ 32 32 ]
  range [ 0.2 8.0 ]
  fov [ 70.0 40.0 ]
  pantilt [ 0.0 0.0 ]

  # model properties
  size [ 0.1 0.07 0.05 ]
  color "black"
  watts 100.0 # TODO find watts for sony pan-tilt camera
)

Details

resolution [ width:<int> height:<int> ]
the resolution of the pixel samples
range [ min:<float> max:<float> ]
the range reported by the camera, in meters. Objects closer than `min', or farther than `max' will not be displayed. The smaller the `min' number, the less persision in depth - don't set this value too close to 0.
fov [ horizontal: <float> vertical: <float> ]
angle, in degrees, for the horizontal and vertical field of view.
pantilt [ pan:<float> tilt:<float> ] angle, in degrees, where the camera is looking. pan is the left-right positioning, and tilt is the up-down positioning.