Class Camera

Inheritance Relationships

Base Type

Class Documentation

class Camera : public lupnt::Device

Onboard imaging camera device: holds the camera’s pose (position/orientation in the host body frame) and image dimensions for surface-imaging operations.

Attached to a rover/lander/orbiter Agent to model an imaging payload used by surface-operations applications (e.g. crater/feature imaging in applications/); rendering/measurement generation from the camera pose is not yet implemented (see commented-out renderer_ member).

Public Functions

Camera(Config &config)

Construct a camera device from a YAML config node (see Device::Device(Config&)).

virtual void Step(Real t) override

Camera device step; currently a no-op placeholder. Overrides Device::Step.

virtual void Setup() override

Camera device setup; currently a no-op placeholder. Overrides Device::Setup.

Protected Attributes

Vec3 position_ = Vec3::Zero()
Mat3 orientation_ = Mat3::Identity()
int width_ = 0
int height_ = 0