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 void	UpdateSensor ()
override void	OnSensorDestroy ()
Protected Member Functions inherited from UnitySensors.Sensor.UnitySensor
virtual void	Update ()

Protected Attributes
float	_minRange = 0.05f
float	_maxRange = 100.0f
Protected Attributes inherited from UnitySensors.Sensor.Camera.CameraSensor
Vector2Int	_resolution = new Vector2Int(640, 480)
float	_fov = 30.0f

Properties
override UnityEngine.Camera	m_camera [get]
Texture2D	texture0 [get]
Texture2D	texture1 [get]
PointCloud< PointXYZRGB >	pointCloud [get]
int	pointsNum [get]
Properties inherited from UnitySensors.Sensor.Camera.CameraSensor
abstract UnityEngine.Camera	m_camera [get]
Properties inherited from UnitySensors.Sensor.UnitySensor
float	dt [get]
float	time [get]
Properties inherited from UnitySensors.Interface.Std.ITimeInterface
float	time [get]
Properties inherited from UnitySensors.Interface.Sensor.ICameraInterface
Camera	m_camera [get]
Properties inherited from UnitySensors.Interface.Sensor.ITextureInterface
Texture2D	texture0 [get]
Texture2D	texture1 [get]
Properties inherited from UnitySensors.Interface.Sensor.IPointCloudInterface< PointXYZRGB >
PointCloud< T >	pointCloud [get]
int	pointsNum [get]

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

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

Additional Inherited Members
Public Member Functions inherited from UnitySensors.Sensor.UnitySensor
delegate void	OnSensorUpdated ()
Public Attributes inherited from UnitySensors.Sensor.UnitySensor
OnSensorUpdated	onSensorUpdated

Member Function Documentation

Init()

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

protectedvirtual

Implements UnitySensors.Sensor.UnitySensor.

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LoadColorTexture()

bool UnitySensors.Sensor.Camera.RGBDCameraSensor.LoadColorTexture ( )

private

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LoadDepthTexture()

bool UnitySensors.Sensor.Camera.RGBDCameraSensor.LoadDepthTexture ( )

private

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OnRenderImage()

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

private

OnSensorDestroy()

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

protectedvirtual

Implements UnitySensors.Sensor.UnitySensor.

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

protectedvirtual

Implements UnitySensors.Sensor.UnitySensor.

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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

_depthCamera

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

private

_depthRt

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

private

_depthTexture

Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor._depthTexture

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

_mat

Material UnitySensors.Sensor.Camera.RGBDCameraSensor._mat

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

m_camera

override UnityEngine.Camera UnitySensors.Sensor.Camera.RGBDCameraSensor.m_camera

get

pointCloud

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

get

pointsNum

int UnitySensors.Sensor.Camera.RGBDCameraSensor.pointsNum

get

texture0

Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor.texture0

get

texture1

Texture2D UnitySensors.Sensor.Camera.RGBDCameraSensor.texture1

get

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

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