Simulation 3D Camera Get

Camera image

Since R2021b

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  • Simulation 3D Camera Get block

Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Core
Aerospace Blockset / Animation / Simulation 3D
Simulink 3D Animation / Simulation 3D / Utilities

Description

Note

Simulating models with the Simulation 3D Camera Get block requires Simulink® 3D Animation™.

The Simulation 3D Camera Get block provides an interface to an ideal camera in the 3D visualization environment. The image output is a red, green, and blue (RGB) array.

If you set the sample time to -1, the block uses the sample time specified in the Simulation 3D Scene Configuration block. To use this sensor, ensure that the Simulation 3D Scene Configuration block is in your model.

Tip

Verify that the Simulation 3D Scene Configuration block executes before the Simulation 3D Camera Get block. That way, the Unreal Engine® 3D visualization environment prepares the data before the Simulation 3D Camera Get block receives it. To check the block execution order, right-click the blocks and select Properties. On the General tab, confirm these Priority settings:

  • Simulation 3D Scene Configuration — 0

  • Simulation 3D Camera Get — 1

For more information about execution order, see Control and Display Execution Order.

Ports

Output

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3D output camera image, returned as an m-by-n-by-3 array of RGB triplet values. m is the vertical resolution of the image, and n is the horizontal resolution of the image.

Data Types: int8 | uint8

Parameters

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Mounting

Unique sensor identifier, specified as a positive integer. This number is used to identify a specific sensor. The sensor identifier distinguishes between sensors in a multi-sensor system.

Example: 2

Parent name. Block provides a list of parent actors in the model. If you select Scene Origin, the block places a sensor at the scene origin.

Example: SimulinkVehicle1

Sensor mounting location.

  • When Parent name is Scene Origin, the block mounts the sensor to the origin of the scene, and Mounting location can be set to Origin only. During simulation, the sensor remains stationary.

  • When Parent name is the name of a vehicle (for example, SimulinkVehicle1) the block mounts the sensor to one of the predefined mounting locations described in the table. During simulation, the sensor travels with the vehicle.

The Mounting Location is one of Nose, Cockpit, CockpitRight, CockpitLeft,FuselageTop, Tail, or Down when the vehicle is one of Airliner, Air Transport, General Aviation, Helicopter, Light Helicopter, Multirotor, or Sky Hogg.

The Mounting Location is one of Front, Back, Right, Left, Top, Bottom, or Down when the vehicle is one of CubeSat or SmallSat.

Example: Origin

Select this parameter to specify an offset from the mounting location.

Specify a translation offset from the mount location, about the vehicle coordinate system X, Y, and Z axes. Units are in meters.

  • The X-axis points forward from the vehicle.

  • The Y-axis points to the left of the vehicle, as viewed when facing forward.

  • The Z-axis points up.

Example: [0,0,0.01]

Dependencies

To enable this parameter, select Specify offset.

Specify a rotational offset from the mounting location, about the vehicle coordinate system X, Y, and Z axes. Units are in degrees.

  • Roll angle is the angle of rotation about the X-axis of the vehicle coordinate system. A positive roll angle corresponds to a clockwise rotation when looking in the positive direction of the X-axis.

  • Pitch angle is the angle of rotation about the Y-axis of the vehicle coordinate system. A positive pitch angle corresponds to a clockwise rotation when looking in the positive direction of the Y-axis.

  • Yaw angle is the angle of rotation about the Z of the vehicle coordinate system. A positive yaw angle corresponds to a clockwise rotation when looking in the positive direction of the Z-axis.

Example: [0,0,10]

Dependencies

To enable this parameter, select Specify offset.

Sample time of the block in seconds. The 3D simulation environment frame rate is the inverse of the sample time.

If you set the sample time to -1, the block uses the sample time specified in the Simulation 3D Scene Configuration block.

Parameter

Horizontal image resolution, in pixels.

Vertical image resolution, in pixels.

Horizontal field of view (FOV), in deg.

Tips

Version History

Introduced in R2021b

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See Also