diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 69c8751a..16ce21a0 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -6184,13 +6184,12 @@ excluded; this is because sensor calculations are independent of the visualizer. :el-prefix:`sensor/` |-| **camprojection** (*) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -This element creates a camprojection sensor, which returns the location of a target site, projected onto a camera image -in pixel coordinates. The origin of this system is located at the top-left corner of the first pixel, so a target -which projects exactly onto the corner of the image, will have value (0, 0). Values are not clipped, so targets which -fall outside the camera image will take values above or below the pixel limits. Moreover, points behind the camera -are also projected onto the image, so it is up to the user to filter out such points, if desired. This can be done using -a `framepos` sensor with the camera as reference frame, then a negative/positive value in the -z-coordinate indicates (respectively) a location in the front/back of the camera. +This element creates a camera projection sensor: the location of a target site, projected onto a camera image in pixel +coordinates. The pixel origin (0, 0) is located at the top-left corner. Values are not clipped, so targets which fall +outside the camera image will take values above or below the pixel range limits. Moreover, points behind the camera are +also projected onto the image, so it is up to the user to filter out such points, if desired. This can be done using a +:ref:`framepos` sensor with the camera as a reference frame: a negative/positive value in the +z-coordinate indicates a location in front of/behind the camera plane, respectively. .. _sensor-camprojection-site: