Method RegisterSensor

RegisterSensor(EgoHandle, string, string, float, float)

Register a new sensor under the given ego.

Declaration

public static SensorHandle RegisterSensor(EgoHandle egoHandle, string modality, string description, float period, float firstCaptureTime)

Parameters

Type	Name	Description
EgoHandle	egoHandle	The ego container for the sensor. Sensor orientation will be reported in the context of the given ego.
string	modality	The kind of the sensor (ex. "camera", "lidar")
string	description	A human-readable description of the sensor (ex. "front-left rgb camera")
float	period	The period, in seconds, on which the sensor should capture. Frames will be scheduled in the simulation such that each sensor is triggered every period seconds.
float	firstCaptureTime	The time, in seconds, from the start of the sequence on which this sensor should first be scheduled.

Returns

Type	Description
SensorHandle	A SensorHandle, which should be used to check ShouldCaptureThisFrame each frame to determine whether to capture (or render) that frame. It is also used to report captures, annotations, and metrics on the sensor.

Exceptions

Type	Condition
ArgumentException	Thrown if ego is invalid.