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world_stereo.yaml
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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, cameraL2]
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 }
attenuation: {constant: 0.8, linear: 0.8, quadratic: 0.0}
spot exponent: 0.9 #Not used in the SRC
shadow quality: 0
cutoff angle: 1.6
parent: BODY CameraFrame
light3:
namespace: lights/
name: light3
location: { x: 0.00, y: 0.0, z: 5.5 }
direction: { x: 0, y: 0, z: -1.0 }
spot exponent: 0.3 #Not used in the SRC
shadow quality: 0
cutoff angle: 1.0
parent: BODY CameraFrame
# CAMERA COMMON CONFIG
cam common configs:
clipping plane: &cam_common_clipping_plane
near: 0.001
far: 10.0
field of view: &cam_common_fov 1.2
publish image resolution: &cam_common_pub_img_res { width: 640, height: 480 }
publish depth resolution: &cam_common_pub_depth_res { width: 640, height: 480 }
cameraL:
namespace: cameras/
name: cameraL
location: { x: -0.002, y: 0.0, z: -0.05 }
look at: { x: 0.0, y: 0.0, z: -1.0 }
up: { x: 0.0, y: 1.0, z: 0.0 }
clipping plane: *cam_common_clipping_plane
field view angle: *cam_common_fov
monitor: 1
parent: BODY CameraFrame
publish image: True
publish image interval: 5
publish image resolution: *cam_common_pub_img_res
publish depth: True
publish depth resolution: *cam_common_pub_depth_res
multipass: True # Set to True to enable shadows
mouse control multipliers: { pan: 0.1, rotate: 1.0, scroll: 0.1, arcball: 0.1 }
cameraL2:
namespace: cameras/
name: cameraL2
location: { x: 0.0, y: 0.0, z: 0.0 }
look at: { x: -1.0, y: 0.0, z: -0.0 }
up: { x: 0.0, y: 0.0, z: 1.0 }
clipping plane: *cam_common_clipping_plane
field view angle: *cam_common_fov
monitor: 1
parent: cameraL
preprocessing shaders:
path: ../../../ambf_shaders/preprocessing
vertex: shader.vs
fragment: shader.fs
publish image: True
visible: False
publish image interval: 5
publish image resolution: *cam_common_pub_img_res
publish depth: False
publish depth resolution: *cam_common_pub_depth_res
mouse control multipliers: { pan: 0.1, rotate: 1.0, scroll: 0.1, arcball: 0.1 }
# multipass: True
cameraR:
namespace: cameras/
name: cameraR
location: { x: 0.002, y: 0.0, z: -0.05 }
look at: { x: 0.0, y: 0.0, z: -1.0 }
up: { x: 0.0, y: 1.0, z: 0.0 }
clipping plane: *cam_common_clipping_plane
field view angle: *cam_common_fov
monitor: 2
parent: BODY CameraFrame
publish image: True
publish image interval: 5
publish image resolution: *cam_common_pub_img_res
publish depth: True
publish depth resolution: *cam_common_pub_depth_res
visible: True
mouse control multipliers: { pan: 0.1, rotate: 1.0, scroll: 0.1, arcball: 0.1 }
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