Schemas / I/O
rig.sensor.depth
v1.0.0 · stable maturity: draft 6 fields 0 required
Fields
| Field | Type | Meaning | |
|---|---|---|---|
rangeMin |
number0 – * | optional | Optional. Nearest reported distance, scene units. Absent = the camera nearClip, or the host default when no camera is composed |
rangeMax |
number> 0 | optional | Optional. Farthest reported distance, scene units. Absent = the camera farClip, or the host default |
measure |
enumplane · ray | optional | Optional. plane (distance to the image plane) or ray (distance along the view ray). Absent = plane |
width |
integer1 – * | optional | Optional. Image width in pixels. Absent = host default |
height |
integer1 – * | optional | Optional. Image height in pixels. Absent = host default |
device |
entity | optional | Optional board / network entity; absent = local |
Depth image on a camera. Format when present. Compose rig.spatial.camera for the projection and rig.spatial.transform for the pose. Looks along local −Z.
rangeMax is greater than rangeMin when both are set. A host that sees otherwise skips the sensor.
The depth buffer, noise, and any intrinsics beyond the camera stay in the host. A ROS 2 node entity is a valid device - docs/ros.md.
JSON Schema
Resolves at https://rig.works/schemas/rig.sensor.depth.schema.json —
raw file.
{
"$schema": "https://json-schema.org/draft/2020-12/schema",
"$id": "https://rig.works/schemas/rig.sensor.depth.schema.json",
"title": "rig.sensor.depth",
"type": "object",
"additionalProperties": false,
"properties": {
"rangeMin": {
"type": "number",
"minimum": 0
},
"rangeMax": {
"type": "number",
"exclusiveMinimum": 0
},
"measure": {
"type": "string",
"enum": [
"plane",
"ray"
]
},
"width": {
"type": "integer",
"minimum": 1
},
"height": {
"type": "integer",
"minimum": 1
},
"device": {
"$ref": "./_defs.schema.json#/$defs/entity"
}
},
"x-rig-maturity": "draft"
}