Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
CameraSensor Class Reference

Simulates an RGB, D, or RGB+D camera sensor. Provides a 2D grid of color and/or depth values, capped and quantized. More...

#include <VisualSensors.h>

Inheritance diagram for CameraSensor:
SensorBase

Public Member Functions

virtual const char * Type () const
 
virtual void Simulate (ControlledRobotSimulator *robot, WorldSimulation *sim)
 Called whenever the sensor is updated from the simulaton.
 
virtual void SimulateKinematic (Robot &robot, RobotWorld &world)
 Updates the sensor for a kinematic world. Useful for non-simulation debugging.
 
virtual void Reset ()
 Should be overridden if the sensor is stateful to reset to an initial state.
 
virtual void MeasurementNames (vector< string > &names) const
 Must be overridden to produce a list of names of each measurement.
 
virtual void GetMeasurements (vector< double > &values) const
 Must be overridden to returns a list of all measurements.
 
virtual void SetMeasurements (const vector< double > &values)
 
virtual map< string, string > Settings () const
 Returns a map of all current name-value pairs of the sensor's settings.
 
virtual bool GetSetting (const string &name, string &str) const
 Get a named setting. Returns false if the name is not supported.
 
virtual bool SetSetting (const string &name, const string &str)
 
virtual void DrawGL (const Robot &robot, const vector< double > &measurements)
 
void GetViewport (Camera::Viewport &view) const
 
void SetViewport (const Camera::Viewport &view)
 
- Public Member Functions inherited from SensorBase
virtual void Advance (double dt)
 Advances to the next time step with duration dt elapsed.
 
virtual bool ReadState (File &f)
 
virtual bool WriteState (File &f) const
 
virtual void GetInternalState (vector< double > &state) const
 Any other state besides measurements/settings that you might want to store. Used in ReadState.
 
virtual void SetInternalState (const vector< double > &state)
 Any other state besides measurements/settings that you might want to store. Used in WriteState.
 

Public Attributes

int link
 
RigidTransform Tsensor
 z is forward, x is to the right of image, and y is down
 
bool rgb
 
bool depth
 If rgb is true, gives color measurements. If depth is true, gives depth measurements.
 
int xres
 
int yres
 resolution of camera in x and y directions (# of pixels)
 
double xfov
 
double yfov
 field of view in x and y directions (radians)
 
double zmin
 
double zmax
 range limits, > 0
 
int zresolution
 resolution in z direction
 
double zvarianceLinear
 variance in z estimates, linear term
 
double zvarianceConstant
 variance in z estimates, constant term
 
bool useGLFramebuffers
 
GLDraw::GLRenderToImage renderer
 
vector< unsigned char > pixels
 
vector< float > floats
 
vector< double > measurements
 
- Public Attributes inherited from SensorBase
string name
 
double rate
 

Detailed Description

Simulates an RGB, D, or RGB+D camera sensor. Provides a 2D grid of color and/or depth values, capped and quantized.

Camera is assumed to be centered at middle of image. The image is also rectified and depth values are converted to meters (or whatever unit you are generally using). The coordinate convention is Z forward, X right, Y down following ROS and other camera standards.

The format of the measurements list is a list of rgb[i,j] pixels if rgb=true, then followed by a list of d[i,j] pixels giving depth in meters (or whatever unit you are generally using) if depth=true. The rgb pixels are given as casts from unsigned integers in the pixel format ABGR to doubles. The depth pixels are given as floats.

The list of measurements proceeds in scan-line order from the upper-left pixel.

For optimal performance using the graphics card, you must install the GLEW package on your system. You must also initialize OpenGL before running the simulator, which typically requires popping up a visualization window.

Configurable settings:

Member Function Documentation

virtual void CameraSensor::DrawGL ( const Robot robot,
const vector< double > &  measurements 
)
virtual

If the sensor can be drawn, draw the sensor on the robot's current configuration, using these measurements, using OpenGL calls.

Reimplemented from SensorBase.

virtual void CameraSensor::SetMeasurements ( const vector< double > &  values)
virtual

Updates the internal measurement vector. Should be overridden to correctly restore state using ReadState(), or to visualize a physical robot's sensors.

Reimplemented from SensorBase.

virtual bool CameraSensor::SetSetting ( const string &  name,
const string &  str 
)
virtual

Set a named setting. Returns false if the name is not supported, or the value is formatted incorrectly

Reimplemented from SensorBase.


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