UnitySensors.Sensor.Camera.RGBDCameraSensor Class Reference

Inheritance diagram for UnitySensors.Sensor.Camera.RGBDCameraSensor:

Collaboration diagram for UnitySensors.Sensor.Camera.RGBDCameraSensor:

Protected Member Functions
override void	Init ()
override IEnumerator	UpdateSensor ()
override void	OnSensorDestroy ()
Protected Member Functions inherited from UnitySensors.Sensor.Camera.CameraSensor
override void	Init ()
Protected Member Functions inherited from UnitySensors.Sensor.UnitySensor
void	Init ()
IEnumerator	UpdateSensor ()
void	OnSensorDestroy ()

Protected Attributes
float	_minRange = 0.05f
float	_maxRange = 100.0f
Protected Attributes inherited from UnitySensors.Sensor.Camera.CameraSensor
RenderTexture	_rt = null
UnityEngine.Camera	_camera
Texture2D	_texture

Properties
UnityEngine.Camera	_depthCamera [get]
override Texture2D	texture0 [get]
override Texture2D	texture1 [get]
PointCloud< PointXYZRGB >	pointCloud [get]
int	pointsNum [get]
bool	convertToPointCloud [get, set]
Properties inherited from UnitySensors.Sensor.Camera.CameraSensor
UnityEngine.Camera	m_camera [get]
virtual Texture2D	texture0 [get]
virtual Texture2D	texture1 [get]
float	texture0FarClipPlane [get]
Properties inherited from UnitySensors.Sensor.UnitySensor
float	dt [get]
float	time [get]
float	frequency [get, set]
Properties inherited from UnitySensors.Interface.Std.ITimeInterface
Properties inherited from UnitySensors.Interface.Sensor.ICameraInterface
Properties inherited from UnitySensors.Interface.Sensor.ITextureInterface
Properties inherited from UnitySensors.Interface.Sensor.IPointCloudInterface< PointXYZRGB >
PointCloud< T >	pointCloud [get]
int	pointsNum [get]

Private Member Functions
void	SetupDirections ()
void	SetupJob ()
void	OnRenderImage (RenderTexture source, RenderTexture dest)

Private Attributes
float	_gaussianNoiseSigma = 0.0f
Material	_depthCameraMat
bool	_convertToPointCloud = false
RenderTexture	_depthRt = null
Texture2D	_depthTexture
UnityEngine.Camera	_colorCamera
RenderTexture	_colorRt = null
Texture2D	_colorTexture
JobHandle	_jobHandle
IUpdateGaussianNoisesJob	_updateGaussianNoisesJob
ITextureToColorPointsJob	_textureToPointsJob
NativeArray< float >	_noises
NativeArray< float3 >	_directions
PointCloud< PointXYZRGB >	_pointCloud
int	_pointsNum
TextureLoader	_depthTextureLoader
TextureLoader	_colorTextureLoader

Additional Inherited Members
Public Member Functions inherited from UnitySensors.Sensor.UnitySensor
virtual IEnumerator	UpdateSensorOnce ()
Public Attributes inherited from UnitySensors.Sensor.UnitySensor
Action	onSensorUpdateComplete
Package Attributes inherited from UnitySensors.Sensor.Camera.CameraSensor
Vector2Int	_resolution = new Vector2Int(640, 480)
float	_fov = 30.0f
Package Attributes inherited from UnitySensors.Sensor.UnitySensor
float	_frequency = 10.0f

Member Function Documentation

Init()

override void UnitySensors.Sensor.Camera.RGBDCameraSensor.Init ( )

protected

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OnRenderImage()

void UnitySensors.Sensor.Camera.RGBDCameraSensor.OnRenderImage ( RenderTexture  source, RenderTexture  dest  )

private

OnSensorDestroy()

override void UnitySensors.Sensor.Camera.RGBDCameraSensor.OnSensorDestroy ( )

protected

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SetupDirections()

void UnitySensors.Sensor.Camera.RGBDCameraSensor.SetupDirections ( )

private

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SetupJob()

void UnitySensors.Sensor.Camera.RGBDCameraSensor.SetupJob ( )

private

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UpdateSensor()

override IEnumerator UnitySensors.Sensor.Camera.RGBDCameraSensor.UpdateSensor ( )

protected

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Member Data Documentation

_colorCamera

UnityEngine.Camera UnitySensors.Sensor.Camera.RGBDCameraSensor._colorCamera

private

_colorRt

RenderTexture UnitySensors.Sensor.Camera.RGBDCameraSensor._colorRt = null

private

_colorTexture

Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor._colorTexture

private

_colorTextureLoader

TextureLoader UnitySensors.Sensor.Camera.RGBDCameraSensor._colorTextureLoader

private

_convertToPointCloud

bool UnitySensors.Sensor.Camera.RGBDCameraSensor._convertToPointCloud = false

private

_depthCameraMat

Material UnitySensors.Sensor.Camera.RGBDCameraSensor._depthCameraMat

private

_depthRt

RenderTexture UnitySensors.Sensor.Camera.RGBDCameraSensor._depthRt = null

private

_depthTexture

Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor._depthTexture

private

_depthTextureLoader

TextureLoader UnitySensors.Sensor.Camera.RGBDCameraSensor._depthTextureLoader

private

_directions

NativeArray<float3> UnitySensors.Sensor.Camera.RGBDCameraSensor._directions

private

_gaussianNoiseSigma

float UnitySensors.Sensor.Camera.RGBDCameraSensor._gaussianNoiseSigma = 0.0f

private

_jobHandle

JobHandle UnitySensors.Sensor.Camera.RGBDCameraSensor._jobHandle

private

_maxRange

float UnitySensors.Sensor.Camera.RGBDCameraSensor._maxRange = 100.0f

protected

_minRange

float UnitySensors.Sensor.Camera.RGBDCameraSensor._minRange = 0.05f

protected

_noises

NativeArray<float> UnitySensors.Sensor.Camera.RGBDCameraSensor._noises

private

_pointCloud

PointCloud<PointXYZRGB> UnitySensors.Sensor.Camera.RGBDCameraSensor._pointCloud

private

_pointsNum

int UnitySensors.Sensor.Camera.RGBDCameraSensor._pointsNum

private

_textureToPointsJob

ITextureToColorPointsJob UnitySensors.Sensor.Camera.RGBDCameraSensor._textureToPointsJob

private

_updateGaussianNoisesJob

IUpdateGaussianNoisesJob UnitySensors.Sensor.Camera.RGBDCameraSensor._updateGaussianNoisesJob

private

Property Documentation

_depthCamera

UnityEngine.Camera UnitySensors.Sensor.Camera.RGBDCameraSensor._depthCamera

getprotected

convertToPointCloud

bool UnitySensors.Sensor.Camera.RGBDCameraSensor.convertToPointCloud

getset

pointCloud

PointCloud<PointXYZRGB> UnitySensors.Sensor.Camera.RGBDCameraSensor.pointCloud

get

pointsNum

int UnitySensors.Sensor.Camera.RGBDCameraSensor.pointsNum

get

texture0

override Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor.texture0

get

Implements UnitySensors.Interface.Sensor.ITextureInterface.

texture1

override Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor.texture1

get

Implements UnitySensors.Interface.Sensor.ITextureInterface.

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

• Packages/UnitySensors/Runtime/Scripts/Sensors/Camera/RGBDCamera/RGBDCameraSensor.cs