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

Contents

Base classes

class VisualSensor

Constructors, destructors, conversion operators

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

Public functions

void setProjectionParameters(const 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.
auto drawObservation(sim::Simulator& sim) -> bool override
Draw an observation to the frame buffer using simulator's renderer.

Protected functions

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

bool esp::sensor::PinholeCamera::drawObservation(sim::Simulator& sim) override

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

Parameters
sim in Instance of Simulator class for which the observation needs to be drawn
Returns true if success, otherwise false (e.g., frame buffer is not set)

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