sim3d.sensors.FisheyeCamera
Description
Use the sim3d.sensors.FisheyeCamera object to create a camera with a fisheye
lens in the 3D environment. The sensor is based on the fisheye camera model proposed by
Scaramuzza [1]. This camera object supports
a field of view of up to 195 degrees. After you create a sim3d.sensors.FisheyeCamera
object, you can modify aspects of the actor object by setting property values.
Creation
Syntax
Description
fisheyeCamera = sim3d.sensors.FisheyeCamera()sim3d.sensors.FisheyeCamera object in the 3D environment.
fisheyeCamera = sim3d.sensors.FisheyeCamera(Name=Value)DistortionCenter to [650,340].
Name-Value Arguments
Output Arguments
Properties
Object Functions
read | Return image data captured with fisheye camera |
Examples
Create a fisheye camera in the 3D environment using the sim3d.sensors.FisheyeCamera object. You can capture images of the 3D environment and display them in MATLAB®. Use the read function to extract image data from the 3D environment.
Create a 3D environment and set up communication with the Unreal Engine simulation environment using the output function OutputImpl and the update function UpdateImpl. The sim3d.World object can send and receive data about the 3D environment to and from the Unreal Engine at each simulation step using output and update functions, respectively. Before the Unreal Engine simulates, MATLAB calls the output function and sends data to the Unreal Engine. Then, the Unreal Engine executes at each time step and sends data to MATLAB in the update function. You can use the update function to read this data or change values after each simulation step.
world = sim3d.World(Output=@outputImpl,Update=@updateImpl);
Create a box actor in the 3D environment using the sim3d.Actor object and add the box to the world.
cube = sim3d.Actor( ... ActorName="Cube", ... Mobility=sim3d.utils.MobilityTypes.Movable, ... Translation=[0 0 0.5]); createShape(cube,"box"); add(world,cube);
Create a fisheye camera using the sim3d.sensors.FisheyeCamera object and set the location of the fisheye camera using the Translation property. Add the fisheyecamera to the world.
fisheyecamera = sim3d.sensors.FisheyeCamera( ... ActorName="FisheyeCamera"); fisheyecamera.Translation = [-3 0 0]; add(world,fisheyecamera);
Run the co-simulation.
sampletime = 1/60; stoptime = 2; run(world,sampletime,stoptime);
Output Function
The output function sends data about the actor to the Unreal Engine environment at each simulation step. For this example, the function rotates the Cube about its Z-axis by updating the Rotation property of the Cube at each simulation step.
function outputImpl(world) world.Actors.Cube.Rotation(3) = world.Actors.Cube.Rotation(3) ... + 0.01; end
Update Function
The update function reads data from the Unreal Engine environment at each simulation step. For this example, the update function uses the read function of the sim3d.sensors.FisheyeCamera object to get image data from the FisheyeCamera in the Unreal Engine and uses the image function to display it in MATLAB.
function updateImpl(world) sceneImage = read(world.Actors.FisheyeCamera); image(sceneImage); end
References
[1] Scaramuzza, Davide, Agostino Martinelli, and Ronald Siegwart. "A Toolbox for Easily Calibrating Omindirectional Cameras." In Proceedings to IEEE International Conference on Intelligent Robots and Systems (IROS 2006). Beijing, China, October 9–15, 2006. https://doi.org/10.1109/IROS.2006.282372.
