#include <DepthCameraSensor.h>

Inheritance diagram for mvsim::DepthCameraSensor:

[legend]

Public Member Functions
	DepthCameraSensor (Simulable &parent, const rapidxml::xml_node< char > *root)

void	freeOpenGLResources () override

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

void	simulateOn3DScene (mrpt::opengl::COpenGLScene &gl_scene) override

virtual	~DepthCameraSensor ()

Public Member Functions inherited from mvsim::SensorBase
void	registerOnServer (mvsim::Client &c) override

double	sensor_period () const

	SensorBase (Simulable &vehicle)

virtual void	simulateOn3DScene ([[maybe_unused]] mrpt::opengl::COpenGLScene &gl_scene)

Simulable &	vehicle ()

const Simulable &	vehicle () const

virtual	~SensorBase ()

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

b2Body *	b2d_body ()

const b2Body *	b2d_body () const

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

mrpt::math::TVector3D	getLinearAcceleration () const

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...

World *	getSimulableWorldObject ()

const World *	getSimulableWorldObject () const

mrpt::math::TTwist2D	getTwist () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual VisualObject *	meAsVisualObject ()

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p, bool notifyChange=true) const

void	setTwist (const mrpt::math::TTwist2D &dq) const

	Simulable (World *parent)

Protected Member Functions
mrpt::math::TPose3D	getRelativePose () const override

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

void	notifySimulableSetPose (const mrpt::math::TPose3D &newPose) override

void	setRelativePose (const mrpt::math::TPose3D &p) override

Protected Member Functions inherited from mvsim::SensorBase
void	make_sure_we_have_a_name (const std::string &prefix)
	Assign a sensible default name/sensor label if none is provided: More...

bool	parseSensorPublish (const rapidxml::xml_node< char > *node, const std::map< std::string, std::string > &varValues)

void	reportNewObservation (const std::shared_ptr< mrpt::obs::CObservation > &obs, const TSimulContext &context)

void	reportNewObservation_lidar_2d (const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &obs, const TSimulContext &context)

bool	should_simulate_sensor (const TSimulContext &context)

World *	world ()

const World *	world () const

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
float	depth_clip_max_ = 15.0

float	depth_clip_min_ = 0.1

float	depth_noise_sigma_ = 1e-3

float	depth_resolution_ = 1e-3

mrpt::math::CMatrixFloat	depthImage_

std::shared_ptr< mrpt::opengl::CFBORender >	fbo_renderer_depth_

std::shared_ptr< mrpt::opengl::CFBORender >	fbo_renderer_rgb_

mrpt::opengl::CPointCloudColoured::Ptr	gl_obs_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_fov_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_frustum_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr	gl_sensor_origin_corner_

bool	gui_uptodate_ = false

std::optional< TSimulContext >	has_to_render_

std::mutex	has_to_render_mtx_

mrpt::obs::CObservation3DRangeScan::Ptr	last_obs2gui_

mrpt::obs::CObservation3DRangeScan::Ptr	last_obs_

std::mutex	last_obs_cs_

float	rgbClipMax_ = 1e+4

float	rgbClipMin_ = 1e-2

bool	sense_depth_ = true
	Simulate the DEPTH sensor part. More...

bool	sense_rgb_ = true
	Simulate the RGB sensor part. More...

mrpt::obs::CObservation3DRangeScan	sensor_params_

bool	show_3d_pointcloud_ = false

Protected Attributes inherited from mvsim::SensorBase
std::string	publishTopic_

double	sensor_last_timestamp_ = 0

double	sensor_period_ = 0.1

std::map< std::string, std::string >	varValues_
	Filled in by SensorBase::loadConfigFrom() More...

Simulable &	vehicle_
	The vehicle this sensor is attached to. More...

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::SensorBase
using	Ptr = std::shared_ptr< SensorBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::SensorBase
static SensorBase::Ptr	factory (Simulable &parent, const rapidxml::xml_node< char > *xml_node)

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsFOVViz ()

static std::shared_ptr< mrpt::opengl::CSetOfObjects >	GetAllSensorsOriginViz ()

static void	RegisterSensorFOVViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

static void	RegisterSensorOriginViz (const std::shared_ptr< mrpt::opengl::CSetOfObjects > &o)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

"RGB+D" or just "D" (depth without RGB) camera sensor on board a vehicle.

Use the XML parameters:

<sense_depth>true</sense_depth>

<sense_rgb>true</sense_rgb>

to optionally disable the simulation of either the RGB or Depth part of the outcoming mrpt::obs::CObservation3DRangeScan observations.

Definition at line 34 of file DepthCameraSensor.h.

Constructor & Destructor Documentation

◆ DepthCameraSensor()

DepthCameraSensor::DepthCameraSensor	(	Simulable &	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 25 of file DepthCameraSensor.cpp.

◆ ~DepthCameraSensor()

DepthCameraSensor::~DepthCameraSensor ( )

virtual

Definition at line 31 of file DepthCameraSensor.cpp.

Member Function Documentation

◆ freeOpenGLResources()

void DepthCameraSensor::freeOpenGLResources ( )

overridevirtual

Reimplemented from mvsim::Simulable.

Definition at line 437 of file DepthCameraSensor.cpp.

◆ getRelativePose()

mrpt::math::TPose3D mvsim::DepthCameraSensor::getRelativePose ( ) const

inlineoverrideprotectedvirtual

Like getPose(), but gets the relative pose with respect to the parent object, or just exactly like getPose() (global pose) if this is a top-level entity.

Reimplemented from mvsim::Simulable.

Definition at line 59 of file DepthCameraSensor.h.

◆ internalGuiUpdate()

void DepthCameraSensor::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 112 of file DepthCameraSensor.cpp.

◆ loadConfigFrom()

void DepthCameraSensor::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Loads the parameters common to all sensors. Should be overriden, and they call to this base method.

Reimplemented from mvsim::SensorBase.

Definition at line 33 of file DepthCameraSensor.cpp.

◆ notifySimulableSetPose()

void DepthCameraSensor::notifySimulableSetPose ( const mrpt::math::TPose3D & newPose )

overrideprotected

Definition at line 429 of file DepthCameraSensor.cpp.

◆ setRelativePose()

void mvsim::DepthCameraSensor::setRelativePose ( const mrpt::math::TPose3D & p )

inlineoverrideprotectedvirtual

Changes the relative pose of this object with respect to its parent, or the global frame if its a top-level entity.

Reimplemented from mvsim::Simulable.

Definition at line 63 of file DepthCameraSensor.h.

◆ simul_post_timestep()

void DepthCameraSensor::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented from mvsim::Simulable.

Definition at line 414 of file DepthCameraSensor.cpp.

◆ simul_pre_timestep()

void DepthCameraSensor::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 204 of file DepthCameraSensor.cpp.

◆ simulateOn3DScene()

void DepthCameraSensor::simulateOn3DScene ( mrpt::opengl::COpenGLScene & gl_scene )

override

Definition at line 206 of file DepthCameraSensor.cpp.

Member Data Documentation

◆ depth_clip_max_

float mvsim::DepthCameraSensor::depth_clip_max_ = 15.0

protected

Definition at line 89 of file DepthCameraSensor.h.

◆ depth_clip_min_

float mvsim::DepthCameraSensor::depth_clip_min_ = 0.1

protected

Definition at line 89 of file DepthCameraSensor.h.

◆ depth_noise_sigma_

float mvsim::DepthCameraSensor::depth_noise_sigma_ = 1e-3

protected

Definition at line 95 of file DepthCameraSensor.h.

◆ depth_resolution_

float mvsim::DepthCameraSensor::depth_resolution_ = 1e-3

protected

Definition at line 90 of file DepthCameraSensor.h.

◆ depthImage_

mrpt::math::CMatrixFloat mvsim::DepthCameraSensor::depthImage_

protected

Definition at line 101 of file DepthCameraSensor.h.

◆ fbo_renderer_depth_

std::shared_ptr<mrpt::opengl::CFBORender> mvsim::DepthCameraSensor::fbo_renderer_depth_

protected

Definition at line 78 of file DepthCameraSensor.h.

◆ fbo_renderer_rgb_

std::shared_ptr<mrpt::opengl::CFBORender> mvsim::DepthCameraSensor::fbo_renderer_rgb_

protected

Definition at line 78 of file DepthCameraSensor.h.

◆ gl_obs_

mrpt::opengl::CPointCloudColoured::Ptr mvsim::DepthCameraSensor::gl_obs_

protected

Definition at line 83 of file DepthCameraSensor.h.

◆ gl_sensor_fov_

mrpt::opengl::CSetOfObjects::Ptr mvsim::DepthCameraSensor::gl_sensor_fov_

protected

Definition at line 99 of file DepthCameraSensor.h.

◆ gl_sensor_frustum_

mrpt::opengl::CSetOfObjects::Ptr mvsim::DepthCameraSensor::gl_sensor_frustum_

protected

Definition at line 99 of file DepthCameraSensor.h.

◆ gl_sensor_origin_

mrpt::opengl::CSetOfObjects::Ptr mvsim::DepthCameraSensor::gl_sensor_origin_

protected

Definition at line 98 of file DepthCameraSensor.h.

◆ gl_sensor_origin_corner_

mrpt::opengl::CSetOfObjects::Ptr mvsim::DepthCameraSensor::gl_sensor_origin_corner_

protected

Definition at line 98 of file DepthCameraSensor.h.

◆ gui_uptodate_

bool mvsim::DepthCameraSensor::gui_uptodate_ = false

protected

Whether gl_scan_ has to be updated upon next call of internalGuiUpdate() from last_scan2gui_

Definition at line 82 of file DepthCameraSensor.h.

◆ has_to_render_

std::optional<TSimulContext> mvsim::DepthCameraSensor::has_to_render_

protected

Definition at line 85 of file DepthCameraSensor.h.

◆ has_to_render_mtx_

std::mutex mvsim::DepthCameraSensor::has_to_render_mtx_

protected

Definition at line 86 of file DepthCameraSensor.h.

◆ last_obs2gui_

mrpt::obs::CObservation3DRangeScan::Ptr mvsim::DepthCameraSensor::last_obs2gui_

protected

Definition at line 75 of file DepthCameraSensor.h.

◆ last_obs_

mrpt::obs::CObservation3DRangeScan::Ptr mvsim::DepthCameraSensor::last_obs_

protected

Last simulated scan

Definition at line 74 of file DepthCameraSensor.h.

◆ last_obs_cs_

std::mutex mvsim::DepthCameraSensor::last_obs_cs_

protected

Definition at line 72 of file DepthCameraSensor.h.

◆ rgbClipMax_

float mvsim::DepthCameraSensor::rgbClipMax_ = 1e+4

protected

Definition at line 88 of file DepthCameraSensor.h.

◆ rgbClipMin_

float mvsim::DepthCameraSensor::rgbClipMin_ = 1e-2

protected

Definition at line 88 of file DepthCameraSensor.h.

◆ sense_depth_

bool mvsim::DepthCameraSensor::sense_depth_ = true

protected

Simulate the DEPTH sensor part.

Definition at line 92 of file DepthCameraSensor.h.

◆ sense_rgb_

bool mvsim::DepthCameraSensor::sense_rgb_ = true

protected

Simulate the RGB sensor part.

Definition at line 93 of file DepthCameraSensor.h.

◆ sensor_params_

mrpt::obs::CObservation3DRangeScan mvsim::DepthCameraSensor::sensor_params_

protected

Definition at line 70 of file DepthCameraSensor.h.

◆ show_3d_pointcloud_

bool mvsim::DepthCameraSensor::show_3d_pointcloud_ = false

protected

Definition at line 96 of file DepthCameraSensor.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DepthCameraSensor()

◆ ~DepthCameraSensor()

Member Function Documentation

◆ freeOpenGLResources()

◆ getRelativePose()

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ notifySimulableSetPose()

◆ setRelativePose()

◆ simul_post_timestep()

◆ simul_pre_timestep()

◆ simulateOn3DScene()

Member Data Documentation

◆ depth_clip_max_

◆ depth_clip_min_

◆ depth_noise_sigma_

◆ depth_resolution_

◆ depthImage_

◆ fbo_renderer_depth_

◆ fbo_renderer_rgb_

◆ gl_obs_

◆ gl_sensor_fov_

◆ gl_sensor_frustum_

◆ gl_sensor_origin_

◆ gl_sensor_origin_corner_

◆ gui_uptodate_

◆ has_to_render_

◆ has_to_render_mtx_

◆ last_obs2gui_

◆ last_obs_

◆ last_obs_cs_

◆ rgbClipMax_

◆ rgbClipMin_

◆ sense_depth_

◆ sense_rgb_

◆ sensor_params_

◆ show_3d_pointcloud_