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=CameraLensModelType::PINHOLE, bool use_diffuse_reflect=false, bool use_denoiser=false, Integrator integrator=Integrator::LEGACY, float gamma=2.2, bool use_fog=false)
	Constructor for the base camera class that defaults to a pinhole lens model. More...

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

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

void	SetLensModelType (CameraLensModelType lens_model)

LensParams	GetLensParameters () const
	returns the lens model parameters More...

void	SetRadialLensParameters (ChVector3f params)
	Sets the parameters for a radial lens distortion model. More...

bool	GetUseDenoiser ()
	Returns whether the camera requests denoiser for diffuse reflection or area lights. More...

bool	GetUseGI ()
	Returns whether the camera considers diffuse reflection. More...

Integrator	GetIntegrator ()
	Get the integrator algorithm type used for rendering. More...

float	GetGamma ()
	returns the gamma correction value of this camera. More...

void	SetGamma (float gamma)

unsigned int	GetSampleFactor ()
	Gets the number of samples per pixels in each direction used for super sampling. More...

void	SetSampleFactor (unsigned int sample_factor)

bool	GetUseFog ()
	returns if the cemera should use fog as dictated by the scene More...

void	SetUseFog (bool use_fog)

ChMatrix33< float >	GetCameraIntrinsicMatrix ()
	returns the 3x3 Intrinsic Matrix(K) of the camera More...

ChVector3f	GetCameraDistortionCoefficients ()
	returns the camera distortion coefficients k1, k2, k3 More...

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

PipelineType	GetPipelineType ()

unsigned int	GetWidth ()

unsigned int	GetHeight ()

CUstream	GetCudaStream ()

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

void	SetOffsetPose (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	PushFilterFront (std::shared_ptr< ChFilter > filter)
	Add a filter to the front of the list on a 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 UserAccelBufferPtr	GetMostRecentBuffer ()

Static Public Member Functions
static LensParams	CalcInvRadialModel (ChVector3f params)
	calculate the parameters for the inverse polynomial model

Additional Inherited Members
Protected Attributes inherited from chrono::sensor::ChOptixSensor
PipelineType	m_pipeline_type
	the type of pipeline for rendering

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< ChBody >	m_parent
	object to which the sensor is attached

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()

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 = `CameraLensModelType::PINHOLE`,
		bool	use_diffuse_reflect = `false`,
		bool	use_denoiser = `false`,
		Integrator	integrator = `Integrator::LEGACY`,
		float	gamma = `2.2`,
		bool	use_fog = `false`
	)

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.
use_diffuse_reflect	Enable the diffuse reflection, may significant decrease in performace. If false, then only considers specular reflection.
use_denoiser	Whether to use the OptiX denoiser for diffuse reflection or area lights.
integrator	The type of integrator algorithm to use for rendering.
gamma	correction of the image, 1 for linear color space, 2.2 for sRGB
use_fog	whether to use fog on this camera

Member Function Documentation

◆ GetCameraDistortionCoefficients()

ChVector3f chrono::sensor::ChCameraSensor::GetCameraDistortionCoefficients ( )

inline

returns the camera distortion coefficients k1, k2, k3

Returns: ChVector3f of the camera distortion coefficients k1, k2, k3

◆ GetCameraIntrinsicMatrix()

ChMatrix33< float > chrono::sensor::ChCameraSensor::GetCameraIntrinsicMatrix ( )

returns the 3x3 Intrinsic Matrix(K) of the camera

Returns: 3x3 ChMatrix33<flaot> Intrinsic Matrix(K) of the camera

◆ GetGamma()

float chrono::sensor::ChCameraSensor::GetGamma ( )

inline

returns the gamma correction value of this camera.

1 means no correction and the image is in linear color space. Useful for other ML applications 2.2 means the image is in sRGB color space. Useful for display

Returns: Gamma value of the image

◆ 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

◆ GetIntegrator()

Integrator chrono::sensor::ChCameraSensor::GetIntegrator ( )

inline

Get the integrator algorithm type used for rendering.

Returns: the integrator algorithm type used for rendering

◆ 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: FOV, 2: Radial)

◆ GetLensParameters()

LensParams chrono::sensor::ChCameraSensor::GetLensParameters ( ) const

inline

returns the lens model parameters

Returns: LensParams struct of lens parameters. Will default to zeros for any terms not used. These are coverted for the inverse model

◆ GetSampleFactor()

unsigned int chrono::sensor::ChCameraSensor::GetSampleFactor ( )

inline

Gets the number of samples per pixels in each direction used for super sampling.

Returns: the number of samples per pixel

◆ GetUseDenoiser()

bool chrono::sensor::ChCameraSensor::GetUseDenoiser ( )

inline

Returns whether the camera requests denoiser for diffuse reflection or area lights.

Returns: True if it does request

◆ GetUseFog()

bool chrono::sensor::ChCameraSensor::GetUseFog ( )

inline

returns if the cemera should use fog as dictated by the scene

Returns: True if it does request

◆ GetUseGI()

bool chrono::sensor::ChCameraSensor::GetUseGI ( )

inline

Returns whether the camera considers diffuse reflection.

Returns: True if it does consider

◆ SetRadialLensParameters()

void chrono::sensor::ChCameraSensor::SetRadialLensParameters ( ChVector3f params )

Sets the parameters for a radial lens distortion model.

Parameters should be given for the forward model. The backward distortion model will the used and calculated from the forward parameters given.

Parameters

params the set of 3 radial parameters (k1,k2,k3)

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

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

Description

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChCameraSensor()

Member Function Documentation

◆ GetCameraDistortionCoefficients()

◆ GetCameraIntrinsicMatrix()

◆ GetGamma()

◆ GetHFOV()

◆ GetIntegrator()

◆ GetLensModelType()

◆ GetLensParameters()

◆ GetSampleFactor()

◆ GetUseDenoiser()

◆ GetUseFog()

◆ GetUseGI()

◆ SetRadialLensParameters()