Simulation 3D Camera Get
Camera image
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 —
0Simulation 3D Camera Get —
1
For more information about execution order, see Control and Display Execution Order.
Examples
Scene Interrogation with Camera and Ray Tracing Reference Application
Interrogate a 3D Unreal Engine scene with a vehicle dynamics model by using a camera and ray tracing reference application project.
Ports
Output
Parameters
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 toOriginonly. 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.
| 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 and at the geometric center of the vehicle (see Coordinate Systems in Vehicle Dynamics Blockset)
| [0, 0, 0] |
| Forward-facing sensor mounted to the front bumper
| [0, 0, 0] |
| 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 Vehicle with Ground Following 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 |
| 2.90 | 1.60 | 2.10 |
| 2.90 | –1.60 | 2.10 |
| 2.60 | 0.20 | 2.60 |
| 3.80 | 0 | 2.10 |
| 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 |
| 0.43 | –0.84 | 1.01 |
| 0.43 | 0.84 | 1.01 |
| 0.32 | 0 | 1.27 |
| 1.44 | 0 | 1.01 |
| 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 |
| 0.43 | –1.08 | 1.01 |
| 0.43 | 1.08 | 1.01 |
| 0.32 | 0 | 1.20 |
| 1.28 | 0 | 1.14 |
| –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 |
| 0.59 | –0.94 | 1.09 |
| 0.59 | 0.94 | 1.09 |
| 0.43 | 0 | 1.31 |
| 1.46 | 0 | 1.11 |
| –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 |
| 1.10 | –1.13 | 1.52 |
| 1.10 | 1.13 | 1.52 |
| 0.85 | 0 | 1.77 |
| 2.22 | 0 | 1.59 |
| 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 |
| 0.60 | –1 | 1.35 |
| 0.60 | 1 | 1.35 |
| 0.39 | 0 | 1.55 |
| 1.58 | 0 | 1.39 |
| –0.56 | 0 | 2 |
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
To understand how to set tag of Sim 3d Scene Cap and how it the tag is related to the Simulation 3D Camera Get block, see Place Cameras on Actors in the Unreal Editor.
