chrono::sensor::ChCameraSensor Class Reference
Description
Camera class.
#include <ChCameraSensor.h>
Inheritance diagram for chrono::sensor::ChCameraSensor:
Collaboration diagram for chrono::sensor::ChCameraSensor:
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 , |
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CameraLensModelType | lens_model = PINHOLE |
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) |
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()
|
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()
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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