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