Simulation 3D Camera Get

Camera image

• Library:

• Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Core

  Aerospace Blockset / Animation / Simulation 3D

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Description

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

Image — 3D output camera image

m-by-n-by-3 array of RGB triplet values

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

Mounting

Sensor identifier — Number to identify unique sensor

0 (default) | positive integer

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

Vehicle name — Name of a vehicle

Scene Origin (default) | character vector

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

Example: SimulinkVehicle1

Vehicle mounting location — Sensor mounting location

Origin (default) | Front bumper | Rear bumper | Right mirror | Left mirror | Rearview mirror | Hood center | Roof center

Sensor mounting location.

• When Vehicle 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 Vehicle 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.

Vehicle Mounting Location	Description	Orientation Relative to Vehicle Origin [Roll, Pitch, Yaw] (deg)
Origin	Forward-facing sensor mounted to the vehicle origin, which is on the ground, at the geometric center of the vehicle	[0, 0, 0]
Front bumper	Forward-facing sensor mounted to the front bumper	[0, 0, 0]
Rear bumper	Backward-facing sensor mounted to the rear bumper	[0, 0, 180]
Right mirror	Downward-facing sensor mounted to the right side-view mirror	[0, –90, 0]
Left mirror	Downward-facing sensor mounted to the left side-view mirror	[0, –90, 0]
Rearview mirror	Forward-facing sensor mounted to the rearview mirror, inside the vehicle	[0, 0, 0]
Hood center	Forward-facing sensor mounted to the center of the hood	[0, 0, 0]
Roof center	Forward-facing sensor mounted to the center of the roof	[0, 0, 0]

The (X, Y, Z) location of the sensor relative to the vehicle depends on the vehicle type. To specify the vehicle type, use the Type parameter of the Simulation 3D Scene Configuration block to which you are mounting. The tables show the X, Y, and Z locations of sensors in the vehicle coordinate system. In this coordinate system:

• 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 from the ground.

• Roll, pitch, and yaw are clockwise-positive when looking in the positive direction of the X-axis, Y-axis, and Z-axis, respectively. When looking at a vehicle from the top down, then the yaw angle (that is, the orientation angle) is counterclockwise-positive, because you are looking in the negative direction of the axis.

Box Truck — Sensor Locations Relative to Vehicle Origin

Mounting Location	X (m)	Y (m)	Z (m)
Front bumper	5.10	0	0.60
Rear bumper	–5	0	0.60
Right mirror	2.90	1.60	2.10
Left mirror	2.90	–1.60	2.10
Rearview mirror	2.60	0.20	2.60
Hood center	3.80	0	2.10
Roof center	1.30	0	4.20

Hatchback — Sensor Locations Relative to Vehicle Origin

Mounting Location	X (m)	Y (m)	Z (m)
Front bumper	1.93	0	0.51
Rear bumper	–1.93	0	0.51
Right mirror	0.43	–0.84	1.01
Left mirror	0.43	0.84	1.01
Rearview mirror	0.32	0	1.27
Hood center	1.44	0	1.01
Roof center	0	0	1.57

Muscle Car — Sensor Locations Relative to Vehicle Origin

Mounting Location	X (m)	Y (m)	Z (m)
Front bumper	2.47	0	0.45
Rear bumper	–2.47	0	0.45
Right mirror	0.43	–1.08	1.01
Left mirror	0.43	1.08	1.01
Rearview mirror	0.32	0	1.20
Hood center	1.28	0	1.14
Roof center	–0.25	0	1.58

Sedan — Sensor Locations Relative to Vehicle Origin

Mounting Location	X (m)	Y (m)	Z (m)
Front bumper	2.42	0	0.51
Rear bumper	–2.42	0	0.51
Right mirror	0.59	–0.94	1.09
Left mirror	0.59	0.94	1.09
Rearview mirror	0.43	0	1.31
Hood center	1.46	0	1.11
Roof center	–0.45	0	1.69

Small Pickup Truck — Sensor Locations Relative to Vehicle Origin

Mounting Location	X (m)	Y (m)	Z (m)
Front bumper	3.07	0	0.51
Rear bumper	–3.07	0	0.51
Right mirror	1.10	–1.13	1.52
Left mirror	1.10	1.13	1.52
Rearview mirror	0.85	0	1.77
Hood center	2.22	0	1.59
Roof center	0	0	2.27

Sport Utility Vehicle — Sensor Locations Relative to Vehicle Origin

Mounting Location	X (m)	Y (m)	Z (m)
Front bumper	2.42	0	0.51
Rear bumper	–2.42	0	0.51
Right mirror	0.60	–1	1.35
Left mirror	0.60	1	1.35
Rearview mirror	0.39	0	1.55
Hood center	1.58	0	1.39
Roof center	–0.56	0	2

Example: Origin

Specify offset — Specify offset from mounting location

off (default) | on

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

Relative translation [X, Y, Z] — Translation offset from mounting location

[0,0,0] (default) | real-valued 1-by-3 vector

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.

Relative rotation [Roll, Pitch, Yaw] — Rotational offset from mounting location

[0,0,0] (default) | real-valued 1-by-3 vector

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 — Sample time

-1 (default) | positive scalar

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 resolution — Pixels

uint32(1280) (default) | scalar

Horizontal image resolution, in pixels.

Vertical resolution — Pixels

uint32(720) (default) | scalar

Vertical image resolution, in pixels.

Horizontal field of view — Field of view

single(60) (default) | scalar

Horizontal field of view (FOV), in deg.