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:

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:

link: int
Tsensor: RigidTransform
rgb,depth: bool
xres,yres: int
xfov,yfov: float
zmin,zmax: float
zresolution: int
zvarianceLinear,zvarianceConstant: float

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:

VisualSensors.h

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation