Simulation 3D Camera Get

Camera image

Since R2022b

• 

Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Core
Aerospace Blockset / Animation / Simulation 3D
Simulink 3D Animation / Simulation 3D / Utilities

Description

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 then click the Properties button . On the General tab, confirm these Priority settings:

• Simulation 3D Scene Configuration — 0

• Simulation 3D Camera Get — 1

For more information about execution order, see Control and Display Execution Order (Simulink).

The Coordinate system parameter of the block specifies how the actor transformations are applied in the 3D environment. The output of the block also follows the specified coordinate system.

Examples

Simulate Actor Movement Using Simulink

Control an actor in the Unreal Engine visualization environment using Simulink^®, and capture the actor image from the 3D environment using a camera sensor.

• Open Live Script

Ports

Output

Image — 3D output camera image

m-by-n-by-3 array of RGB triplet values

3D output camera image, returned as an m-by-n-by-3 array of RGB triplet values. m is the vertical resolution of the image, and n is the horizontal resolution of the image.

Data Types: int8 | uint8

Parameters

Mounting

Sensor identifier — Number to identify unique sensor

0 (default) | positive integer

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 — Name of parent

Scene Origin (default) | Custom | vehicle name | sim3d actor name

Specify the name of the parent to which the sensor is mounted. The block provides a list of parent actors in the model. The names that you can select correspond to the values of the Name parameters of the Simulation 3D blocks in your model. If you select Scene Origin, the block places a sensor at the scene origin. The Custom option allows you to specify the name of any actor, including child actors in the environment, as the parent actor.

Example: SimulinkVehicle1

Custom parent name — Name of custom parent

character vector

Specify the name of custom parent. This parameter allows you to set any actor in the environment, including child actors as the parent actor to which the sensor is mounted. The name corresponds to the Name parameter of the Simulation 3D block.

Example: SimulinkVehicle1

Dependencies

To enable this parameter, set Parent name to Custom.

Coordinate system — Coordinate system for actor transformation

Default (default) | AERO | ISO8855 | MATLAB | SAE | VRML

Specify the coordinate system that the actor uses for translation and rotation in the 3D environment.

• Default – World coordinate system. Units are in m and rad.

• MATLAB – MATLAB^® coordinate system. Units are in m and rad.

• ISO8855 – ISO 8855 standard coordinate system. Units are in m and deg.

• AERO – SAE coordinate system. Units are in m and rad.

• VRML – X3D ISO standard coordinate system. Units are in m and rad.

• SAE – SAE coordinate system. Units are in m and rad.

For more details on the different coordinate systems, see Coordinate Systems in Simulink 3D Animation.

Example: MATLAB

Mounting location — Sensor mounting location

Origin (default) | Front bumper | Rear bumper | Right mirror | Left mirror | Rearview mirror | Hood center | Roof center

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 to Origin only. During simulation, the sensor remains stationary.

• When Parent name is sim3d actor name, the block mounts the sensor to the origin of the actor, which is the center of the shape. You can set the Mounting location to Origin only. During simulation, the sensor travels with the actor.

• 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. For example, the table provides the mounting locations in the ISO 8855 standard coordinate system.

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 Simulink 3D Animation)	[0, 0, 0]
Front bumper Front center	Forward-facing sensor mounted to the front bumper	[0, 0, 0]
Rear bumper Rear center	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.

For example, the tables show the X, Y, and Z locations of sensors in the ISO 8855 standard coordinate system.

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
Right mirror	2.90	1.60	2.10
Left mirror	2.90	–1.60	2.10
Rearview mirror	2.60	0.20	2.60
Hood center	3.80	0	2.10
Roof center	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
Right mirror	0.43	–0.84	1.01
Left mirror	0.43	0.84	1.01
Rearview mirror	0.32	0	1.27
Hood center	1.44	0	1.01
Roof center	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
Right mirror	0.43	–1.08	1.01
Left mirror	0.43	1.08	1.01
Rearview mirror	0.327	0	1.19
Hood center	1.28	0	1.14
Roof center	–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
Right mirror	0.59	–0.94	1.09
Left mirror	0.59	0.94	1.09
Rearview mirror	0.43	0	1.31
Hood center	1.46	0	1.11
Roof center	–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
Right mirror	1.10	–1.13	1.52
Left mirror	1.10	1.13	1.52
Rearview mirror	0.85	0	1.77
Hood center	2.22	0	1.59
Roof center	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
Right mirror	0.60	–1	1.35
Left mirror	0.60	1	1.35
Rearview mirror	0.393	0	1.54
Hood center	1.58	0	1.39
Roof center	–0.56	0	2

Example: Origin

Specify offset — Specify offset from mounting location

off (default) | on

Select this parameter to specify an offset from the mounting location.

Relative translation [X, Y, Z] — Translation offset from mounting location

[0,0,0] (default) | real-valued 1-by-3 vector

Translation offset from mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [X, Y, Z], in meters. The X, Y, and Z coordinates are defined in the coordinate system specified by the Coordinate system parameter.

Example: [0,0,0.01]

Dependencies

To enable this parameter, select Specify offset.

Relative rotation [Roll, Pitch, Yaw] — Rotational offset from mounting location

[0,0,0] (default) | real-valued 1-by-3 vector

Rotational offset from mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [Roll, Pitch, Yaw]. Roll, pitch, and yaw are the angles of rotation about the X-, Y-, and Z-axes, respectively. The X, Y, and Z coordinates are defined in the coordinate system specified by the Coordinate system parameter. The rotation order is Roll, then Pitch, then Yaw. When you update any of the three rotation values and leave others unchanged, the software reapplies all three rotations in the same order.

Example: [0,0,10]

Dependencies

To enable this parameter, select Specify offset.

Sample time — Sample time

-1 (default) | positive scalar

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 resolution — Pixels

uint32(1280) (default) | scalar

Horizontal image resolution, in pixels.

Vertical resolution — Pixels

uint32(720) (default) | scalar

Vertical image resolution, in pixels.

Horizontal field of view — Field of view

single(60) (default) | scalar

Horizontal field of view (FOV), in deg.

Tips

• To understand how to set tag of Sim 3d Scene Cap and how the tag is related to the Simulation 3D Camera Get block, see Place Cameras on Actors in the Unreal Editor.

Version History

Introduced in R2022b

R2026a: Improved simulation performance

Models containing the Simulation 3D Camera Get block have better frame rate and execution time.

R2026a: Mount sensor to any actor

Setting the Parent name to Custom enables the Custom parent name parameter, with which you can specify the name of the actor to which you want to mount the sensor.

R2025a: Mounting parameter name changes

These Mounting parameter names have changed.

Old parameter name	New parameter name
Sensor identification	Sensor identifier
Vehicle name	Parent name
Vehicle mounting location	Mounting location

R2025a: Set coordinate system parameter

Set the Coordinate system parameter in the Simulation 3D Camera Get block to represent the coordinate system for actor transformation in the 3D environment.