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

Base classes

class Sensor

Derived classes

class CameraSensor
class CubeMapSensorBase

Constructors, destructors, conversion operators

VisualSensor(scene::SceneNode& node, VisualSensorSpec::ptr spec) explicit

Public functions

auto framebufferSize() const -> Magnum::Vector2i: Return the size of the framebuffer corresponding to the sensor's resolution as a [W, H] Vector2i.
auto displayObservation(sim::Simulator& sim) -> bool override
auto isVisualSensor() const -> bool override: Return whether or not this Sensor is a VisualSensor.
auto depthUnprojection() const -> Corrade::Containers::Optional<Magnum::Vector2> virtual: Returns the parameters needed to unproject depth for the sensor.
auto hasRenderTarget() const -> bool: Checks to see if this sensor has a RenderTarget bound or not.
void bindRenderTarget(std::unique_ptr<gfx::RenderTarget>&& tgt): Binds the given given RenderTarget to the sensor. The sensor takes ownership of the RenderTarget.
auto renderTarget() -> gfx::RenderTarget&: Returns a reference to the sensors render target.
auto drawObservation(sim::Simulator& sim) -> bool pure virtual: Draw an observation to the frame buffer using simulator's renderer.
void readObservation(Observation& obs) virtual: Read the observation that was rendered by the simulator.
auto getObservation(sim::Simulator& sim, Observation& obs) -> bool override
auto getObservationSpace(ObservationSpace& space) -> bool override: Updates ObservationSpace space with spaceType, shape, and dataType of this sensor. The information in space is later used to resize the sensor's memory buffer if sensor is resized.
void setResolution(int height, int width): Sets resolution of Sensor's sensorSpec.
void setResolution(const Magnum::Vector2i& resolution)
auto specification() const -> VisualSensorSpec::ptr: Return a pointer to this visual sensor's SensorSpec.
auto getProjectionMatrix() const -> Mn::Matrix4 pure virtual: Return this sensor's projection matrix.
auto getRenderCamera() const -> gfx::RenderCamera* virtual: Returns RenderCamera.
auto getNear() const -> float: Gets near plane distance.
auto getFar() const -> float: Gets far plane distance.
auto getFOV() const -> Mn::Deg: Returns the FOV of this Sensor.
auto canUseHBAO() const -> bool override: Return whether or not this Visual Sensor can use the HBAO effect.

Protected types

class MoveSemanticSensorNodeHelper

Protected variables

Mn::Deg hfov_: field of view
std::unique_ptr<gfx::RenderTarget> tgt_
VisualSensorSpec::ptr visualSensorSpec_

Function documentation

bool esp::sensor::VisualSensor::drawObservation(sim::Simulator& sim) pure virtual

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::VisualSensor::readObservation(Observation& obs) virtual

Read the observation that was rendered by the simulator.

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

bool esp::sensor::VisualSensor::getObservationSpace(ObservationSpace& space) override

Updates ObservationSpace space with spaceType, shape, and dataType of this sensor. The information in space is later used to resize the sensor's memory buffer if sensor is resized.

Parameters
space in	Instance of ObservationSpace class which will be updated with information from this sensor
Returns	true if success, otherwise false

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