Camera sensor

CameraSensor is a component that simulates an RGB camera. Autonomous vehicles can be equipped with many cameras used for various purposes. In the current version of AWSIM, the camera is used primarily to provide the image to the traffic light recognition module in Autoware.

Prefab

Assets/Awsim/Entity/Sensor/Camera/CameraSensor.prefab

Assets/Awsim/Entity/Sensor/Camera/CameraSensorScheduler.prefab

CameraSensorScheduler class

The CameraSensorScheduler class schedules the rendering of CameraSensor. Normally, camera rendering is a highly demanding process. Therefore, the use of multiple camera sensors is performed by the CameraSensorScheduler by staggering the rendering timings one frame at a time.

Setting parameters

Type	Parameter	Feature
`ICameraSensor`	`_schedulableCameraSensorComponents`	`CameraSensor` instances.
`int`	`_outputHz`	Period to output.

CameraSensor class

The CameraSensor class outputs a rendered image with OpenCV parameters applied; it is used by Autoware to recognize traffic lights, for example.

How to use

Place CameraSensorScheduler.prefab in the scene. (It will usually be placed under the game object of the vehicle.)
Place CameraSensor.prefab in the lower level of CameraSensorScheduler.prefab. Then reference it in the CameraSensorScheduler inspector.
After the scene is executed, CameraSensorScheduler is initialized by one of the classes.
The CameraSensorScheduler coroutine then continues scheduling CameraSensor rendering and output.

Setting parameters

Type	Parameter	Feature
`int`	`_width`	Image width (px).
`int`	`_height`	Image height (px).
`float`	`_k1`	Distortion coefficient. For plumb_bob models's k1 parameter.
`float`	`_k2`	Distortion coefficient. For plumb_bob models's k2 parameter.
`float`	`_p1`	Distortion coefficient. For plumb_bob models's p1 parameter.
`float`	`_p2`	Distortion coefficient. For plumb_bob models's p2 parameter.
`float`	`_p3`	Distortion coefficient. For plumb_bob models's k3 parameter.
`Camera`	`_camera`	Unity's camera component.
`bool`	`_enableLensDistortionCorrection`	Flag whether to apply OpenCV distortion.
`float`	`_sharpeningStrength`	Sharpness.

Output data

It is contained in the CameraSensor.IReadOnlyOutputData type.

Type	Parameter	Feature
`IReadOnlyCameraParameters`	`CameraParameters`
`RenderTexture`	`OutputRenderTexture`

Add output callback

CameraSensor can add an Action type callback that takes CameraSensor.IReadOnlyOutputData as an argument.

// sample code from CameraRos2Publisher.cs
_cameraSensor.OnOutput += Publish;

CameraRos2Publisher class

CameraRos2Publisher converts the output of CameraSensor to ROS2 and publishes the topic. Publish two msgs: camera info and image.

Setting parameters

Type	Parameter	Feature
`string`	`_imageTopic`	`sensor_msgs/Image` msg topic name.
`string`	`_cameraInfoTopic`	`sensor_msgs/CameraInfo` msg topic name.
`string`	`_frameId`	Frame ID of ros2.
`QosSettings`	`_qosSettings`	Quality of Service settings of ros2.
`CameraSensor`	`_cameraSensor`	Target `CameraSensor` instance.

Default publish topics

CameraRos2Publisher is configured by default with the following two topics publish.

Topic	Message type	`frame_id`	`Hz`	`QoS`
`/sensing/camera/traffic_light/camera_info`	`sensor_msgs/CameraInfo`	`traffic_light_left_camera/camera_link`	`10`	`Best effort` `Volatile` `Keep last/1`
`/sensing/camera/traffic_light/image_raw`	`sensor_msgs/Image`	`traffic_light_left_camera/camera_link`	`10`	`Best effort` `Volatile` `Keep last/1`