esp::sensor::PinholeCamera class
#include <esp/sensor/PinholeCamera.h>

Contents

Base classes

class VisualSensor

Constructors, destructors, conversion operators

PinholeCamera(scene::SceneNode& pinholeCameraNode, SensorSpec::ptr spec) explicit
~PinholeCamera() virtual

Public functions

void setProjectionParameters(SensorSpec::ptr spec)
auto setProjectionMatrix(gfx::RenderCamera& targetCamera) -> PinholeCamera& override
auto setTransformationMatrix(gfx::RenderCamera& targetCamera) -> PinholeCamera& override
auto setViewport(gfx::RenderCamera& targetCamera) -> PinholeCamera& override
auto getObservation(sim::Simulator& sim, Observation& obs) -> bool override
auto getObservationSpace(ObservationSpace& space) -> bool override
auto displayObservation(sim::Simulator& sim) -> bool override
auto depthUnprojection() const -> Corrade::Containers::Optional<Magnum::Vector2> override
Returns the parameters needed to unproject depth for this sensor's perspective projection model. See gfx::calculateDepthUnprojection.

Protected functions

void drawObservation(sim::Simulator& sim)
Draw an observation using simulator's renderer.
void readObservation(Observation& obs)
Read the observation that was rendered by the simulator.

Protected variables

int width_
int height_
float near_
float far_
float hfov_

Function documentation

void esp::sensor::PinholeCamera::drawObservation(sim::Simulator& sim) protected

Draw an observation using simulator's renderer.

Parameters
sim in Instance of Simulator class for which the observation needs to be drawn

void esp::sensor::PinholeCamera::readObservation(Observation& obs) protected

Read the observation that was rendered by the simulator.

Parameters
obs in/out Instance of Observation class in which the observation will be stored