Method RegisterSensor

RegisterSensor(EgoHandle, string, string, float, CaptureTriggerMode, float, int, bool)

Register a new sensor under the given ego.

Declaration

public static SensorHandle RegisterSensor(EgoHandle egoHandle, string modality, string description, float firstCaptureFrame, CaptureTriggerMode captureTriggerMode, float simulationDeltaTime, int framesBetweenCaptures, bool manualSensorAffectSimulationTiming = false)

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	firstCaptureFrame	The offset from the current frame on which this sensor should first be scheduled.
CaptureTriggerMode	captureTriggerMode	The method of triggering captures for this sensor.
float	simulationDeltaTime	The simulation frame time (seconds) requested by this sensor.
int	framesBetweenCaptures	The number of frames to simulate and render between the camera's scheduled captures. Setting this to 0 makes the camera capture every frame.
bool	manualSensorAffectSimulationTiming	Have this unscheduled (manual capture) camera affect simulation timings (similar to a scheduled camera) by requesting a specific frame delta time

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.