basler_camera_sim_config.yaml 1.18 KB
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horizontal_fov: 2.25
width: 1280
height: 960
format: 'R8G8B8'
clip_near: 0.1
clip_far: 100
noise_type: 'gaussian'
noise_mean: 0.0
noise_stddev: 0.007
update_rate: 45
camera_name: 'sensors/basler_camera'
image_topic: 'image_raw'
camera_info_topic: 'camera_info'
hack_baseline: 0.07
distortion_K1: 0.0
distortion_K2: 0.0
distortion_K3: 0.0
distortion_T1: 0.0
distortion_T2: 0.0
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### wideangle camera
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lens_type: custom # gnomonical, stereographic, equidistant, equisolid_angle, orthographic, custom
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# when lens_type is custom
## manually defined mapping function r = c1*f*fun(theta/c2 + c3)
## More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function
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lens_custom_function_c1:  2.0 #linear scaling
lens_custom_function_c2:  2.0 #angle scaling
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lens_custom_function_f:   1.0 #scaling parameter
lens_custom_function_fun: tan #sin,tan,id

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lens_scale_to_hfov:    true #if it is set to `true` your horizontal FOV will remain as defined, othervise it depends on lens type and custom function, if there is one
lens_cutoff_angle:     3.14159 # clip everything that is outside of this angle
lens_env_texture_size: 1024 # resolution of the cubemap texture, the highter it is, the sharper is your image