Pursuit Camera
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Pursuit Camera
The PursuitCamera sample is a camera that automatically follows a simulation entity.
This sample is provided in the C# language. You can find the project files for this sample at the following location under the Microsoft Robotics Developer Studio installation folder:
Samples\Simulation\PursuitCamera
Contents:
- Setting Up the Sample
- Running the Sample
Prerequisites
Hardware
This sample requires no special hardware apart from a suitable graphics card to run the Simulator.
Software
This software is designed to run with Microsoft Robotics Developer Studio.
Setting Up the Sample
The PursuitCamera service is installed automatically with RDS. There is a VPL example associated with it.
Running the Sample
To view the PursuitCamera sample, start VPL and open the Simulated Four By Four example in the samples\VPLExamples folder.
Once the simulation is running, select the Pursuit Camera from the Camera menu. You can display the output in a separate window if you wish and keep the main camera view in the Simulator window.
.jpg "Pursuit Camera")
Pursuit Camera - Sample view
The Pursuit Camera consists of two components: a simulation entity and a service. You do not need to start the service to use the camera in the Simulator, but your application must programmatically add a Pursuit Camera entity.
The pursuit camera moves relative to the simulation entity being pursued and it tends to swing around as the entity moves.
You can set the initial values of the camera using a config file. The service has one operation ChangeSettings. The parameters are as shown below. The default values are also listed.
| Parameter | Default Value | Description |
|---|---|---|
| MinDistance | 4 | Minimum distance to keep the camera from the entity |
| MaxDistance | 6 | Maximum distance to keep the camera from the entity |
| Altitude | 2 | Height above the ground plane to keep the camera |
| OcclusionThreshold | 0.5 | Threshold distance from the target position that is considered to be occlusion |
| PreventOcclusion | true | If true, try to prevent the view from the camera to the target from being occluded by obstacles |
| FieldOfView | 45 | Camera vertical resolution in degrees |
By default, the camera entity name is PursuitCamera.
Summary
This sample covered the following:
- Setting Up the Sample
- Running the Sample
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