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world_stereo.yaml
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enclosure size: {length: 10.0, width: 10.0, height: 3.0}
lights: [light2]
cameras: [cameraL, cameraR]
environment: "./checkered_floor.yaml"
namespace: /ambf/env/
max iterations: 50
gravity: {x: 0.0, y: 0.0, z: -9.8}
# shaders:
# path: ../../ambf_shaders/
# vertex: "shader.vs"
# fragment: "shader.fs"
light1:
namespace: lights/
name: light1
location: {x: 0.0, y: 0.5, z: 2.5}
direction: {x: 0, y: 0, z: -1.0}
spot exponent: 0.3
shadow quality: 0
cutoff angle: 0.7
light2:
namespace: lights/
name: light2
location: {x: 0.0, y: 0.0, z: 0.0}
direction: {x: 0, y: 0.0, z: -1.0}
spot exponent: 0.3
shadow quality: 5
cutoff angle: 0.8
parent: BODY CameraFrame
light3:
namespace: lights/
name: light3
location: {x: 2.0, y: 0.0, z: 3.5}
direction: {x: 0, y: 0, z: -1.0}
spot exponent: 0.3
shadow quality: 0
cutoff angle: 1.4
# parent: BODY CameraFrame
cameraL:
namespace: cameras/
name: cameraL
location: {x: -0.02, y: 0.0, z: -0.5}
look at: {x: 0.0, y: 0.0, z: -1.0}
up: {x: 0.0, y: 1.0, z: 0.0}
clipping plane: {near: 0.01, far: 10.0}
field view angle: 1.2
monitor: 1
parent: BODY CameraFrame
# preprocessing shaders:
# path: ../../ambf_shaders/preprocessing
# vertex: shader.vs
# fragment: shader.fs
# publish image: True
publish image interval: 5
publish image resolution: {width: 1920, height: 1080}
# publish depth: True
# publish depth resolution: {width: 640, height: 480}
# multipass: True
cameraR:
namespace: cameras/
name: cameraR
location: {x: 0.02, y: 0.0, z: -0.5}
look at: {x: 0.0, y: 0.0, z: -1.0}
up: {x: 0.0, y: 1.0, z: 0.0}
clipping plane: {near: 0.01, far: 10.0}
field view angle: 1.2
monitor: 2
parent: BODY CameraFrame
# preprocessing shaders:
# path: ../../ambf_shaders/preprocessing
# vertex: shader.vs
# fragment: shader.fs
# publish image: True
publish image interval: 5
publish image resolution: {width: 1920, height: 1080}
# publish depth: True
# publish depth resolution: {width: 640, height: 480}
# multipass: True
camera3:
namespace: cameras/
name: normal_camera
location: {x: -3.0, y: 0.0, z: 2.0}
look at: {x: 0.0, y: 0.0, z: -0.5}
up: {x: 0.0, y: 0.0, z: 1.0}
clipping plane: {near: 0.01, far: 10.0}
field view angle: 0.8
monitor: 2
# parent: /ambf/env/BODY Occulus
# orthographic view width: 6
# device: Razer Hydra