Description

Camera class.

#include <ChCameraSensor.h>

Inheritance diagram for chrono::sensor::ChCameraSensor:

Collaboration diagram for chrono::sensor::ChCameraSensor:

[legend]

Public Member Functions
	ChCameraSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, unsigned int w, unsigned int h, float hFOV, unsigned int supersample_factor=1, CameraLensModelType lens_model=PINHOLE)
	Constructor for the base camera class that defaults to a pinhole lens model. More...

	~ChCameraSensor ()
	camera class destructor

float	GetHFOV () const
	returns the camera's horizontal field of view. More...

CameraLensModelType	GetLensModelType () const
	returns the lens model type used for rendering More...

Public Member Functions inherited from chrono::sensor::ChOptixSensor
	ChOptixSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, unsigned int w, unsigned int h)
	Constructor for the base camera class that defaults to a pinhole lens model. More...

virtual	~ChOptixSensor ()
	camera class destructor

ProgramString &	RenderProgramString ()
	virtual function for getting the string used for generating the ray-laucnh program More...

RTformat &	RenderBufferFormat ()
	virtual function of getting the format for the output buffer More...

std::vector< std::tuple< std::string, RTobjecttype, void * > > &	RayLaunchParameters ()
	virtual function for getting any additional render parameters need by the sensor More...

Public Member Functions inherited from chrono::sensor::ChSensor
	ChSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose)
	Constructor for the base sensor class. More...

virtual	~ChSensor ()
	Class destructor.

void	SetOffsetPose (chrono::ChFrame< double > pose)
	Set the sensor's relative position and orientation. More...

ChFrame< double >	GetOffsetPose ()
	Get the sensor's relative position and orientation. More...

std::shared_ptr< ChBody >	GetParent () const
	Get the object to which the sensor is attached. More...

void	SetName (std::string name)
	Set the sensor's name. More...

std::string	GetName () const
	Get the name of the sensor. More...

float	GetUpdateRate () const
	Get the sensor update rate (Hz) More...

void	SetLag (float t)
	Set the lag parameter. More...

float	GetLag () const
	Get the sensor lag (seconds) More...

void	SetCollectionWindow (float t)
	Set the collection window. More...

float	GetCollectionWindow () const
	Get the sensor data collection window (seconds) More...

void	SetUpdateRate (float updateRate)
	Set the sensor update rate (Hz) More...

unsigned int	GetNumLaunches ()
	Get the number of times the sensor has been updated. More...

void	IncrementNumLaunches ()
	Increments the count of number of updates.

std::list< std::shared_ptr< ChFilter > >	GetFilterList () const
	Get the sensor's list of filters. More...

void	PushFilter (std::shared_ptr< ChFilter > filter)
	Add a filter to the sensor. More...

void	LockFilterList ()
	Gives ability to lock the filter list to prevent race conditions. More...

template<class UserBufferType >
UserBufferType	GetMostRecentBuffer ()
	Get the last filter in the list that matches the template type. More...

template<>
CH_SENSOR_API UserR8BufferPtr	GetMostRecentBuffer ()

template<>
CH_SENSOR_API UserRGBA8BufferPtr	GetMostRecentBuffer ()

template<>
CH_SENSOR_API UserDIBufferPtr	GetMostRecentBuffer ()

template<>
CH_SENSOR_API UserXYZIBufferPtr	GetMostRecentBuffer ()

template<>
CH_SENSOR_API UserIMUBufferPtr	GetMostRecentBuffer ()

template<>
CH_SENSOR_API UserGPSBufferPtr	GetMostRecentBuffer ()

Additional Inherited Members
Protected Attributes inherited from chrono::sensor::ChOptixSensor
ProgramString	m_program_string
	the string tuple that specifies the file and name of the ray generation program

RTformat	m_buffer_format
	the format of the output buffer

std::vector< std::tuple< std::string, RTobjecttype, void * > >	m_ray_launch_params
	holder of any additional ray generation parameters we need to pass to OptiX

Protected Attributes inherited from chrono::sensor::ChSensor
float	m_updateRate
	sensor update rate

float	m_lag
	sensor lag from the time all scene information is available (sensor processing time)

float	m_collection_window
	time over which data is collected. More...

float	m_timeLastUpdated
	time since previous update

std::shared_ptr< chrono::ChBody >	m_parent
	object to which the sensor is attached

chrono::ChFrame< double >	m_offsetPose
	position and orientation of the sensor relative to its parent

std::string	m_name
	name of the sensor

unsigned int	m_num_launches
	number of times the sensor has been updated

std::list< std::shared_ptr< ChFilter > >	m_filters
	filter list for post-processing sensor data

bool	m_filter_list_locked = false
	gives ability to lock the filter list to prevent race conditions

Constructor & Destructor Documentation

◆ ChCameraSensor()

CH_SENSOR_API chrono::sensor::ChCameraSensor::ChCameraSensor	(	std::shared_ptr< chrono::ChBody >	parent,
		float	updateRate,
		chrono::ChFrame< double >	offsetPose,
		unsigned int	w,
		unsigned int	h,
		float	hFOV,
		unsigned int	supersample_factor = `1`,
		CameraLensModelType	lens_model = `PINHOLE`
	)

Constructor for the base camera class that defaults to a pinhole lens model.

Parameters

parent	A shared pointer to a body on which the sensor should be attached.
updateRate	The desired update rate of the sensor in Hz.
offsetPose	The desired relative position and orientation of the sensor on the body.
w	The width of the image the camera should generate.
h	The height of the image the camera should generate.
hFOV	The horizontal field of view of the camera lens.
supersample_factor	The number of rays that should be sampled per pixel for antialiasing.
lens_model	A enum specifying the desired lens model.

Member Function Documentation

◆ GetHFOV()

float chrono::sensor::ChCameraSensor::GetHFOV ( ) const

inline

returns the camera's horizontal field of view.

Vertical field of view is determined by the image aspect ratio and the lens model

Returns: The horizontal field of view of the camera lens

◆ GetLensModelType()

CameraLensModelType chrono::sensor::ChCameraSensor::GetLensModelType ( ) const

inline

returns the lens model type used for rendering

Returns: An enum specifying which lens model is being used. (0: PINHOLE, 1: SPHERICAL)

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_sensor/ChCameraSensor.h
/builds/uwsbel/chrono/src/chrono_sensor/ChCameraSensor.cpp