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 Klampt::CameraSensor:

Public Member Functions
virtual const char *	Type () const override

virtual void	Simulate (SimRobotController robot, Simulator sim) override
	Called whenever the sensor is updated from the simulaton.

virtual void	SimulateKinematic (RobotModel &robot, WorldModel &world) override
	Updates the sensor for a kinematic world. Useful for non-simulation debugging.

virtual void	Reset () override
	Should be overridden if the sensor is stateful to reset to an initial state.

virtual void	MeasurementNames (vector< string > &names) const override
	Must be overridden to produce a list of names of each measurement.

virtual void	GetMeasurements (vector< double > &values) const override
	Must be overridden to returns a list of all measurements.

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

virtual map< string, string >	Settings () const override
	Returns a map of all current name-value pairs of the sensor's settings.

virtual bool	GetSetting (const string &name, string &str) const override
	Get a named setting. Returns false if the name is not supported.

virtual bool	SetSetting (const string &name, const string &str) override

virtual void	DrawGL (const RobotModel &robot, const vector< double > &measurements) override

void	GetViewport (Camera::Viewport &view) const

void	SetViewport (const Camera::Viewport &view)

Public Member Functions inherited from Klampt::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

GLDraw::GLDisplayList	depthDisplayList

unsigned int	depthDisplayHash

Public Attributes inherited from Klampt::SensorBase
string	name

double	rate

bool	enabled

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 OpenCV, 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 0xrrggbb 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 Klampt::CameraSensor::DrawGL	(	const RobotModel &	robot,
		const vector< double > &	measurements
	)

overridevirtual

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

Reimplemented from Klampt::SensorBase.

void Klampt::CameraSensor::GetViewport ( Camera::Viewport & view ) const

Gets the OpenGL view associated with the camera. The result is in the link's local frame. Note that in OpenGL views, Z is backward, and Y is up.

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

overridevirtual

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

Reimplemented from Klampt::SensorBase.

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

overridevirtual

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

Reimplemented from Klampt::SensorBase.

void Klampt::CameraSensor::SetViewport ( const Camera::Viewport & view )

Sets the camera to match the OpenGL view. The view is assumed to be in the link's local frame. Note that in OpenGL views, Z is backward, and Y is up.

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

VisualSensors.h

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation