Overview of Chrono::Sensor

The Chrono::Sensor module provides support for simulating RGB cameras, lidar, GPS, and IMU within a Chrono simulation. Chrono:::Sensor is currently compatible with the core rigid body simulation in Chrono including Chrono::Vehicle.

Detailed overview of Chrono::Sensor.

Important Overview Points

  • How the sensor process is setup
  • How rendering steps are performed
  • How the filter graph works
  • How key frames are used

Simulation Setup

Important Setup Points

  • order of how a user should setup a simulation
  • how a user should make calls for creating sensors
  • how parameter setting works and how the environment is setup

Simulation Loop

Important Sim Loop Points

  • How the user should make calls in the sim loop
  • Where/how updating the scene should be taken place

Reference Frames and Relative Attachment Positions

Important Reference Frame Points

  • The reference frames for the sensors
  • Mounting pose relative to the parent object

Each Chrono sensor defaults to Z-up, X-forwad, and Y-left to match a vehicle ISO reference frame. For an RGB camera, this means that the z-axis points vertically in the image plane, the y-axis points left in the image plane, and the x-axis points into the image plane. For lidar, the x-axis point along rays with zero vertical angle and zero horizontal angle