Description

Camera class.

#include <ChPhysCameraSensor.h>

Inheritance diagram for chrono::sensor::ChPhysCameraSensor:

Collaboration diagram for chrono::sensor::ChPhysCameraSensor:

[legend]

Public Member Functions
	ChPhysCameraSensor (std::shared_ptr< chrono::ChBody > parent, float updateRate, chrono::ChFrame< double > offsetPose, unsigned int w, unsigned int h, CameraLensModelType lens_model=CameraLensModelType::PINHOLE, unsigned int supersample_factor=1, bool use_diffuse_reflect=false, bool use_denoiser=false, bool use_defocus_blur=false, bool use_vignetting=false, bool use_aggregator=false, bool use_noise=false, bool use_expsr_to_dv=false, Integrator integrator=Integrator::LEGACY, float gamma=1.0f, bool use_fog=false, bool use_motion_blur=false)
	Constructor for the phys camera class that defaults to a pinhole lens model. More...

	~ChPhysCameraSensor ()
	phys-camera class destructor

void	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 then be used and calculated from the forward parameters given. More...

void	SetCtrlParameters (float aperture_num, float expsr_time, float ISO, float focal_length, float focus_dist)
	Set camera control parameters. More...

void	SetModelParameters (float sensor_width, float pixel_size, float max_scene_light_amount, ChVector3f rgb_QE_vec, PhysCameraGainParams gain_params, PhysCameraNoiseParams noise_params)
	Set camera intrinsic model parameters. 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...

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

bool	GetUseGI ()
	returns if the cemera considers diffuse reflection More...

bool	GetUseDenoiser ()
	returns if the cemera should use a denoiser More...

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

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

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

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

ChMatrix33< float >	GetCameraIntrinsicMatrix ()
	Get 3x3 Intrinsic Matrix.

ChVector3f	GetCameraDistortionCoefficients ()
	Get the camera distortion coefficients.

float	GetApertureNum ()
	Get the aperture number. More...

float	GetExpsrTime ()
	Get the exposure time. More...

float	GetISO ()
	Get the ISO gain. More...

float	GetFocalLength ()
	Get the focal length. More...

float	GetFocusDistance ()
	Get the focus distance. More...

float	GetSensorWidth ()
	Get the sensor width. More...

float	GetPixelSize ()
	Get the pixel size. More...

float	GetMaxSceneLightAmount ()
	Get the maximum light amount in the scene. More...

PhysCameraGainParams	GetGainParams ()
	Get all gain-related parameters in camera model. More...

PhysCameraNoiseParams	GetNoiseParams ()
	Get noise model parameters in camera model. More...

void	UpdateFilterParameters ()
	update filter parameters in ChOptixEngine.cpp

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 ()

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

◆ ChPhysCameraSensor()

CH_SENSOR_API chrono::sensor::ChPhysCameraSensor::ChPhysCameraSensor	(	std::shared_ptr< chrono::ChBody >	parent,
		float	updateRate,
		chrono::ChFrame< double >	offsetPose,
		unsigned int	w,
		unsigned int	h,
		CameraLensModelType	lens_model = `CameraLensModelType::PINHOLE`,
		unsigned int	supersample_factor = `1`,
		bool	use_diffuse_reflect = `false`,
		bool	use_denoiser = `false`,
		bool	use_defocus_blur = `false`,
		bool	use_vignetting = `false`,
		bool	use_aggregator = `false`,
		bool	use_noise = `false`,
		bool	use_expsr_to_dv = `false`,
		Integrator	integrator = `Integrator::LEGACY`,
		float	gamma = `1.0f`,
		bool	use_fog = `false`,
		bool	use_motion_blur = `false`
	)

Constructor for the phys 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.
lens_model	A enum specifying the desired lens model.
sensor_width	equivalent width of the image sensor to calculate hHOV, [mm]
pixel_size	length of a pixel to calculate depth of field, [mm]
supersample_factor	The number of rays that should be sampled per pixel for antialiasing.
use_diffuse_reflect	whether to consider diffuse reflection in rendering. If false, only consider specular reflection.
use_denoiser	whether to use OptiX denoiser for diffuse reflection or area light.
use_defocus_blur	whether to use defocus blur effect
use_vignetting	whether to use vignetting effect
use_aggregator	whether to aggregate illumination irradiance over exposure time and pixel area
use_expsr_to_dv	whether to convert exposure domain to digital value domain
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
use_motion_blur	whether to use motion blur effect

Member Function Documentation

◆ GetApertureNum()

float chrono::sensor::ChPhysCameraSensor::GetApertureNum ( )

inline

Get the aperture number.

Returns: the aperture number, [1/1]

◆ GetExpsrTime()

float chrono::sensor::ChPhysCameraSensor::GetExpsrTime ( )

inline

Get the exposure time.

Returns: the exposure time, [sec]

◆ GetFocalLength()

float chrono::sensor::ChPhysCameraSensor::GetFocalLength ( )

inline

Get the focal length.

Returns: the focal length, [m]

◆ GetFocusDistance()

float chrono::sensor::ChPhysCameraSensor::GetFocusDistance ( )

inline

Get the focus distance.

Returns: the focus distance, [m]

◆ GetGainParams()

PhysCameraGainParams chrono::sensor::ChPhysCameraSensor::GetGainParams ( )

inline

Get all gain-related parameters in camera model.

Returns: all gain-related parameters in camera model, [1/1]

◆ GetGamma()

float chrono::sensor::ChPhysCameraSensor::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::ChPhysCameraSensor::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, [rad]

◆ GetIntegrator()

Integrator chrono::sensor::ChPhysCameraSensor::GetIntegrator ( )

inline

Get the integrator algorithm type used for rendering.

Returns: the integrator algorithm type used for rendering

◆ GetISO()

float chrono::sensor::ChPhysCameraSensor::GetISO ( )

inline

Get the ISO gain.

Returns: the ISO, [1/1]

◆ GetLensModelType()

CameraLensModelType chrono::sensor::ChPhysCameraSensor::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::ChPhysCameraSensor::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

◆ GetMaxSceneLightAmount()

float chrono::sensor::ChPhysCameraSensor::GetMaxSceneLightAmount ( )

inline

Get the maximum light amount in the scene.

Returns: the maximum light amount in the scene, [W]

◆ GetNoiseParams()

PhysCameraNoiseParams chrono::sensor::ChPhysCameraSensor::GetNoiseParams ( )

inline

Get noise model parameters in camera model.

Returns: noise model parameters in camera model, [1/1]

◆ GetPixelSize()

float chrono::sensor::ChPhysCameraSensor::GetPixelSize ( )

inline

Get the pixel size.

Returns: the pixel size, [m]

◆ GetSampleFactor()

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

inline

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

Returns: the number of samples per pixel

◆ GetSensorWidth()

float chrono::sensor::ChPhysCameraSensor::GetSensorWidth ( )

inline

Get the sensor width.

Returns: the sensor width, [m]

◆ GetUseDenoiser()

bool chrono::sensor::ChPhysCameraSensor::GetUseDenoiser ( )

inline

returns if the cemera should use a denoiser

Returns: True if it does use a denoiser

◆ GetUseFog()

bool chrono::sensor::ChPhysCameraSensor::GetUseFog ( )

inline

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

Returns: True if it does request

◆ GetUseGI()

bool chrono::sensor::ChPhysCameraSensor::GetUseGI ( )

inline

returns if the cemera considers diffuse reflection

Returns: True if it does consider

◆ SetCtrlParameters()

void chrono::sensor::ChPhysCameraSensor::SetCtrlParameters	(	float	aperture_num,
		float	expsr_time,
		float	ISO,
		float	focal_length,
		float	focus_dist
	)

Set camera control parameters.

Parameters

aperture_num	F-number (or aperture number) = focal_length / aperture_diameter, [1/1]
expsr_time	exposure time, [sec]
ISO	ISO exposure gain, [1/1]
focal_length	focal length, [m]
focus_dist	focus distance, [m]

◆ SetModelParameters()

void chrono::sensor::ChPhysCameraSensor::SetModelParameters	(	float	sensor_width,
		float	pixel_size,
		float	max_scene_light_amount,
		ChVector3f	rgb_QE_vec,
		PhysCameraGainParams	gain_params,
		PhysCameraNoiseParams	noise_params
	)

Set camera intrinsic model parameters.

Parameters

sensor_width	equivalent width of the image sensor, [m]
pixel_size	length of a pixel, [m]
max_scene_light_amount	maximum light amount in the scene, consider distance-diminishing effect [lux = lumen/m^2]
rgb_QE_vec	vector of RGB quantum efficiencies, [1/1]
gain_params	all gain-related parameters in camera model, [1/1]
noise_params	noise model parameters in camera model

◆ SetRadialLensParameters()

void chrono::sensor::ChPhysCameraSensor::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 then be 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/ChPhysCameraSensor.h
/builds/uwsbel/chrono/src/chrono_sensor/sensors/ChPhysCameraSensor.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChPhysCameraSensor()

Member Function Documentation

◆ GetApertureNum()

◆ GetExpsrTime()

◆ GetFocalLength()

◆ GetFocusDistance()

◆ GetGainParams()

◆ GetGamma()

◆ GetHFOV()

◆ GetIntegrator()

◆ GetISO()

◆ GetLensModelType()

◆ GetLensParameters()

◆ GetMaxSceneLightAmount()

◆ GetNoiseParams()

◆ GetPixelSize()

◆ GetSampleFactor()

◆ GetSensorWidth()

◆ GetUseDenoiser()

◆ GetUseFog()

◆ GetUseGI()

◆ SetCtrlParameters()

◆ SetModelParameters()

◆ SetRadialLensParameters()