Class in Zendir.Classes | Inherits from PhysicalObject
Declaration
class Camera;Description
Payload model for the camera that can interface with Unreal and produce images. This class is able to take imagery of different kinds and store the data as byte arrays.
Properties
| Declared | Description |
|---|---|
| Aperture | The diameter of the opening of the lens, larger opening means wider FOV. |
| ApertureFStops | The ratio of the focal length to the aperture diameter, larger ratiomeans wider FOV. |
| CanCaptureFlag | A flag for if the camera can capture an image |
| CircleOfConfusion | Defines the acceptable level of blur, light from an object converging before orafter the sensor will be out of focus, if it is blurred by more than the circleof confusion it is not inside the depth of field planes this is measured on thesensor itself in this case. |
| DepthOfField | The distance from the camera to the depth of field plane |
| DepthOfFieldFar | The distance from the camera to the far depth of field plane |
| DepthOfFieldNear | The distance from the camera to the near depth of field plane |
| EventCameraDataNum | Tracks the number of events that have been captured by the camera since becoming an event camera |
| FieldOfView | The Field Of View (FOV) of the camera |
| FileName | The name of the image that will be saved whenthe image is captured. |
| FocalLength | The Distance from the nodal point (where light converges) of the lens to the sensor,longer distance confines field of view. Moving the sensor closer to the nodal pointwill catch more light and increase field of view. |
| FocusingDistance | Defines the distance from the lens to where objects are in focus |
| HyperFocalDistance | Closest distance where focusing here will make everything beyond half the distance sharp(sharp as defined by circle of confusion). |
| In_DeviceStatusMsg | The Device status message for the physical component whetherthe device is available. |
| IsEvent | Defines whether the camera will capture events as a Neuromorphic Camera, which are pixelsthat have changed over time from the previous capture. |
| IsMonochromatic | Defines whether the camera is monochromatic or not |
| LastSampleEventCameraDataNum | Tracks the number of events that have been detected by the camera in the previous capture |
| NextSample | The previous time that a camera was sampled |
| Out_CameraConfigMsg | The output message that contains the configuration of the camera. |
| Out_CameraImageMsg | An output message that contains the data from the imageand is able to store all the bytes. |
| PixelPitch | The spacing from one pixel to its X or Y neighbour, center to center.A smaller pixel pitch and resolution reduces the physical size of thesensor resulting in a more cropped image. |
| ReadyToCapture | A flag for if the image is ready to capture |
| Resolution | The Resolution of the camera sensor |
| SampleRate | The time between photo captures. If the sample rate is 0 or less constantly capture. |
| SensorSize | The physical size of the sensor, based on the focal distance. |
| Inherited | Description |
|---|---|
| Behaviours | A collection of behaviours attached to this object. |
| CenterOfMassB_B | The center of mass of the component in respect to the bodyframe (B) of the component. This is isolated from any childrenand exists in isolation. |
| CenterOfMassDot_LB_B | The center of mass time-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassDotB_B | The center of mass time-derivative of the component relative tothe body frame (B). This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassL_L | The center of mass of the component within its own localcoordinates. This does not include any of the sub-components andexists in isolation. |
| CenterOfMassPrime_LB_B | The center of mass general-derivative of the component within itsown local coordinates. This does not include any of the sub-componentsand exists in isolation. |
| CenterOfMassPrimeB_B | [m/s] The center of mass general-derivative of the component relativeto the body frame (B). This does not include any of the sub-componentsand exists in isolation. |
| Children | A collection of children attached to this object. |
| DCM_BN | The rotational DCM matrix between the body frame (B) at the topof this component chain and the inertial frame (N). |
| DCM_LB | The rotational DCM matrix between the component frame of thisobject (L) relative to the body frame (B). |
| DCM_LN | The DCM rotational matrix of the component relative to theinertial origin (N) of the world. |
| DCM_LP | The DCM matrix of the component in the parent’s frame (P), takenfrom the Component Transform (PL). |
| IsEnabled | Is true if the object is currently enabled. |
| LocalForward | The direction of the transform frame’s forward vector, which is along the Y axis. |
| LocalRight | The direction of the transform frame’s right vector, which is along the X axis. |
| LocalUp | The direction of the transform frame’s up vector, which is along the Z axis. |
| Mass | The component mass defined in the object. This is independentof any parent or children objects and exists in isolation. |
| MassDot | The component mass time-derivative defined in the object. Thisis independent of any parent or children objects and exists in isolation. |
| Models | A collection of models attached to this object. |
| MomentOfInertia_LB | The moment of inertia of the component, measured at thelocal center of mass, represented with its own local coordinates.This does not include any of the sub-components and exists inisolation. |
| MomentOfInertiaB_B | The moment of inertia of this component, measured inthe body frame relative to the parented body. This is independentof any children and exists in isolation. |
| MomentOfInertiaPrime_LB | The derivative of the moment of inertia of the component,measured at the local center of mass, represented with its own localcoordinates. This does not include any of the sub-components andexists in isolation. |
| MomentOfInertiaPrimeB_B | The derivative of the moment of inertia of the component,represented in the body frame (B). This is independent and exists inisolation. |
| Name | The display name or tag of this object. |
| Out_ComponentMassMsg | The component mass message defines the set of mass properties andstates of the system within this component locally. This is independentof any parent or children properties or objects. |
| Out_TransformMsg | This defines the base transform message that stores the state of the transform of this object. |
| Parent | The currently attached parent object (if any). |
| Position | [m] The position of the object relative to the parent or to world origin, if no parent exists. |
| Position_BN_N | The position of the body (the root parent B) in theinertial frame relative to the inertial point (N). |
| Position_LB_B | The position of the component relative to the rootobject of this hierarchy. This is in the inertial frameand if the component is the root object, then there willbe no position. |
| Position_LN_N | The position of the inertial world space. This position isderived from the world’s transform (N). |
| Position_LP_P | The position of the object relative to the parented object (P).If there is no parent object, then this will be in the inertialframe. |
| Root | The root object in the parent chain. |
| Rotation | [-] The rotation of the object relative to the parent or to the world origin, if no parent exists. |
| Thermal | A reference to the thermal model that is attached to this object.This will allow the object to have thermal properties and be ableto be used in thermal simulations. |
Methods
| Declared | Description |
|---|---|
| CanCapture | Checks if the camera is ready to capture and if it is, it willreset the flag back to false. |
| Capture | Called to capture the photo. This is handled through the Unreal Engine |
| ClearBuffer | Clears the buffer of the data |
| Inherited | Description |
|---|---|
| AddObject | Returns a new simulation object with the specified type. |
| Attach | Attempts to attach this object to a new parent. This will only work if the current object is no parented to anyother object. |
| ContainsModelWithID | Returns true if an attached model satisfies the specified ID. |
| ContainsModelWithType | Returns true if an attached model satisfies the specified type. |
| Destroy | Removes the current object from the simulation. |
| Detach | This is an action to detach the current object from its parent, if it exists and move it to another object or tojust exist within the simulation. |
| FindBehavioursWithType | Returns all attached behaviours that satisfies the specified type. |
| FindBehaviourWithID | Returns an attached behaviour that satisfies the specified ID. |
| FindBehaviourWithType | Returns an attached behaviour that satisfies the specified type. |
| FindChildrenWithType | Returns all attached children that satisfies the specified type. |
| FindChildWithID | Returns an attached child that satisfies the specified ID. |
| FindChildWithType | Returns an attached child that satisfies the specified type. |
| FindModelsWithType | Returns all attached models that satisfies the specified type. |
| FindModelWithID | Returns an attached model that satisfies the specified ID. |
| FindModelWithType | Returns an attached model that satisfies the specified type. |
| FindParentWithID | Returns an attached parent that satisfies the specified ID. |
| FindParentWithType | Returns an attached parent that satisfies the specified type. |
| FindRootWithID | Returns a root object that satisfies the specified ID. |
| FindRootWithType | Returns a root object that satisfies the specified type. |
| GetModel | Returns a valid assigned model with the specified type. |
| GetWorldTransform | Returns the world transform of the object which is relative to the parent. If no parent exists, this will be thetransform of the object in world space. |
| ReadBodyTransform | This method will reset the dirty flag on the mass so thatit has been read successfully and is valid. |
| UpdateMassProperties | Updates the mass properties of the current physical object ata particular time. |