read
Description
returns image data that is captured with the ideal camera specified by
image
= read(idealCamera
)idealCamera
in the simulation 3D environment.
Examples
Create Ideal Camera and Extract Data
Create an ideal camera in the 3D environment using the sim3d.sensors.IdealCamera
object. You can capture images of the 3D environment and display them in MATLAB®. Use the read
function to extract image data from the 3D environment.
Create a 3D environment and set up communication with the Unreal Engine® simulation environment using the output function OutputImpl
and the update function UpdateImpl
. The sim3d.World
object can send and receive data about the 3D environment to and from the Unreal Engine at each simulation step using output and update functions, respectively. Before the Unreal Engine simulates, MATLAB calls the output function and sends data to the Unreal Engine. Then, the Unreal Engine executes at each time step and sends data to MATLAB in the update function. You can use the update function to read this data or change values after each simulation step.
world = sim3d.World('Output',@outputImpl,'Update',@updateImpl);
Create a box actor in the 3D environment using the sim3d.Actor
object and add the box to the world.
cube = sim3d.Actor( ... ActorName="Cube", ... Mobility=sim3d.utils.MobilityTypes.Movable); createShape(cube,"box"); add(world,cube);
Create an ideal camera object using sim3d.sensors.IdealCamera
object and set the location of the ideal camera using the Translation
property. Add the idealcamera
to the world.
idealCamera = sim3d.sensors.IdealCamera( ... ActorName="IdealCamera"); idealCamera.Translation = [-3 0 0]; add(world,idealCamera);
Set the Simulation 3D Viewer window point of view and run the co-simulation.
viewport = createViewport(world,Translation=[-3 0 0]); sampletime = 1/60; stoptime = 5; run(world,sampletime,stoptime);
Output Function
The output function sends data about the actor to the Unreal Engine environment at each simulation step. For this example, the function rotates the Cube
abut its Z-axis by updating the Rotation
property of the Cube
at each simulation step.
function outputImpl(world) world.Actors.Cube.Rotation(3) = world.Actors.Cube.Rotation(3) ... + 0.01; end
Update Function
The update function reads data from the Unreal Engine environment at each simulation step. For this example, the update function uses the read
function of the sim3d.sensors.IdealCamera
object to get image data from the IdealCamera
in the Unreal Engine and uses the image
function to display it in MATLAB.
function updateImpl(world) sceneImage = read(world.Actors.IdealCamera); image(sceneImage); end
Input Arguments
idealCamera
— Virtual camera that captures image
sim3d.sensors.IdealCamera
object
Virtual camera that captures the image, specified as a sim3d.sensors.IdealCamera
object.
Example: idealCamera = sim3d.sensors.IdealCamera
Output Arguments
image
— Image data returned by camera
m-by-n-by-3 array of RGB triplet values
Image data returned by camera, returned as an m-by-n-by-3 array of RGB triplet values. m is the vertical resolution of the image. n is the horizontal resolution of the image.
Data Types: uint8
Version History
Introduced in R2022b
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