Add structured light output schema and update camera schema references

syclops/blender/sensor_outputs/schema/structured_light.schema.yaml

@@ -0,0 +1,26 @@
+description: Structured light pattern output from a camera with a projected pattern.
+type: array
+items:
+  type: object
+  properties:
+    id:
+      description: Unique identifier of the output
+      type: string
+    frame_id:
+      description: Frame ID to attach the structured light source to
+      type: string
+    samples:
+      description: Render quality of the image. More means a better quality and more samples per pixel.
+      type: integer
+    intensity:
+      description: Light intensity of the structured light pattern
+      type: number
+    scale:
+      description: Scale factor of the Voronoi pattern
+      type: number
+    debug_breakpoint:
+      description: Whether to break and open Blender before rendering. Only works if scene debugging is active.
+      type: boolean
+  required: [id, frame_id, samples, intensity, scale]
+minItems: 1
+maxItems: 1

syclops/blender/sensors/schema/camera.schema.yaml

@@ -19,7 +19,7 @@ items:
     lens_type:
       description: Lens type (PERSPECTIVE [default],FISHEYE_EQUISOLID,FISHEYE_EQUIDISTANT)
       type: string
-      enum: [PERSPECTIVE,FISHEYE_EQUISOLID,FISHEYE_EQUIDISTANT]
+      enum: [PERSPECTIVE, FISHEYE_EQUISOLID, FISHEYE_EQUIDISTANT]
       default: PERSPECTIVE
     focal_length:
       description: Focal length of the camera in mm. Only effects lens_type=(PERSPECTIVE,FISHEYE_EQUISOLID).
@@ -68,7 +68,7 @@ items:
               type: number
     frustum:
       description: Settings for the camera frustum visualization
-      type: object 
+      type: object
       properties:
         enabled:
           description: Whether to enable frustum visualization
@@ -93,7 +93,7 @@ items:
           properties:
             enabled:
               description: Whether to render as wireframe
-              type: boolean  
+              type: boolean
             thickness:
               description: Thickness of wireframe lines
               type: number
@@ -111,6 +111,8 @@ items:
           $ref: "#/definitions/syclops_output_object_positions"
         syclops_output_keypoints:
           $ref: "#/definitions/syclops_output_keypoints"
+        syclops_output_structured_light:
+          $ref: "#/definitions/syclops_output_structured_light"
       additionalProperties: False
   required: [name, frame_id, resolution, sensor_width, outputs]
   allOf:
@@ -123,21 +125,16 @@ items:
                 const: true
       then:
         required: [shutter_speed]
-    - if:
-        properties:
-          lens_type:
-            enum: [PERSPECTIVE, FISHEYE_EQUISOLID]
-      then:
-        required: [focal_length]
-    - if:
-        properties:
-          lens_type:
-            const: FISHEYE_EQUIDISTANT
-      then:
-        required: [fisheye_fov]
-    - if:
-        properties:
-          lens_type:
-            const: FISHEYE_EQUISOLID
-      then:
-        required: [fisheye_fov, focal_length]
+    - anyOf:
+        - properties:
+            lens_type:
+              enum: [PERSPECTIVE, null]
+          required: [focal_length]
+        - properties:
+            lens_type:
+              const: FISHEYE_EQUIDISTANT
+          required: [fisheye_fov]
+        - properties:
+            lens_type:
+              const: FISHEYE_EQUISOLID
+          required: [fisheye_fov, focal_length]