monoDrive Simulator

Multi viewport

NEW in 1.12

For many high performance use cases, TCP is simply not fast enough to stream the large amount of camera data we are simulating in real time. As a better performance alternative, monoDrive supports streaming camera data directly from the GPU over display output.

Starting from release 1.12, the user can configure a viewport on any standard, fisheye, or 360 camera. This will open an additional window on the simulation machine to directly display the stream of camera data.

Usage

Configure a camera with a viewport:

  {
    "type": "Camera",
    "listen_port": 8001,
    "enable_streaming": false,
    "location": {
      "x": 0.0,
      "y": -25.0,
      "z": 225.0
    },
    "rotation": {
      "pitch": -5.0,
      "yaw": -15.0,
      "roll": 0.0
    },
    "stream_dimensions": {
      "x": 512.0,
      "y": 512.0
    },
    "max_distance": 50000.0,
    "dynamic_range": 50,
    "fov": 60.0,
    "focal_length": 9.0,
    "fstop": 1.4,
    "min_shutter": 0.000500,
    "max_shutter": 0.001400,
    "sensor_size": 9.07,
    "channels": "bgra",
    "viewport": {
      "enable_viewport": true,
      "monitor_name": "",
      "monitor_number": 0,
      "fullscreen": false,
      "window_offset": {
        "x": 256.0,
        "y": 256.0
      }
    }
  }
  • enable_streaming: Should usually be set to false to disable TCP streaming for performance. This can be left on if TCP streaming is also desired.
  • stream_dimensions: The size of the image in pixels
    • x: The width of the image in pixels
    • y: The height of the image in pixels
  • viewport: Viewport configuration
    • enable_viewport: If true, will enable camera viewport
    • monitor_name: If specified, will position viewport on specific monitor by name
    • monitor_number: If specified, will position viewport on specific monitor by index. Note that if monitor_name is also specified, this index will be within the matching group of monitors.
    • fullscreen: If true, the camera viewport will be set to borderless fullscreen
    • window_offset: The viewport window offset from top-left of monitor. This only applies if fullscreen is false.
      • x: The window offset in x
      • y: The window offset in y

Example