esp::sensor::CameraSensor class

#include <esp/sensor/CameraSensor.h>

Base classes

class VisualSensor

Constructors, destructors, conversion operators

CameraSensor(scene::SceneNode& cameraNode, const CameraSensorSpec::ptr& spec) explicit

Public functions

void setProjectionParameters(const CameraSensorSpec& spec)

Updates this sensor's CameraSensorSpec cameraSensorSpec_ to reflect the passed new values.

auto getRenderCamera() const -> gfx::RenderCamera* override

Returns pointer to member RenderCamera that CameraSensor will use for rendering.

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.

auto drawObservation(sim::Simulator& sim) -> bool override

Draw an observation to the frame buffer using simulator's renderer.

void modifyZoom(float factor)

Modify the zoom matrix for perspective and ortho cameras.

void resetZoom()

Resets the zoom on this CameraSensor to reflect current sensor spec values.

void setFOV(Mn::Deg FOV)

Sets the FOV for this CameraSensor. Only consumed by pinhole/perspective cameras.

void setCameraType(const SensorSubType& _cameraType)

Sets camera type and calculates appropriate size vector for display.

auto getCameraType() const -> SensorSubType

Returns the camera type of this Sensor.

void setWidth(int width)

Sets width of this sensor's view port.

void setHeight(int height)

Sets height of this sensor's view port.

void setNear(float _near)

Sets near plane distance.

void setFar(float _far)

Sets far plane distance.

auto specification() const -> CameraSensorSpec::ptr

Return a pointer to this camera sensor's SensorSpec.

auto getProjectionMatrix() const -> Mn::Matrix4 override

Return this sensor's projection matrix.

Protected functions

void recomputeBaseProjectionMatrix()

Recalculate the base projection matrix, based on camera type and display size. This should be called only when camera type, size or clipping planes change.

void recomputeProjectionMatrix()

Recalculate the projection Matrix used by this Camera Sensor, which should be recomputeulated zoomMatrix_ or baseProjMatrix_ change.

void draw(scene::SceneGraph& sceneGraph, gfx::RenderCamera::Flags flags)

Draw the scene graph with the specified camera flag.

Protected variables

Magnum::Matrix4 projectionMatrix_

This camera's projection matrix. Should be recomputed every time size changes.

Magnum::Matrix4 baseProjMatrix_

A base projection matrix based on camera's type and display size.

Magnum::Matrix4 zoomMatrix_

A matrix to determine the zoom for the projection.

Mn::Vector2 nearPlaneSize_

size of near plane

gfx::RenderCamera* renderCamera_

raw pointer to member RenderCamera that CameraSensor will use for rendering

CameraSensorSpec::ptr cameraSensorSpec_

Function documentation