<SensorCoverage />

<SensorCoverage /> draws each of the machine’s cameras as a wireframe view frustum, pinned to that camera’s frame. It answers placement questions directly in the scene: whether something is in view at this arm pose, whether two wrist cameras leave a blind spot between them, whether the gripper occludes the shot, etc.

The frustum comes from the intrinsics the camera reports through GetProperties, so it is the real field of view, not an assumed one.

Coverage, not simulation

This draws the boundary of what a camera can see. It does not render the image the camera would produce.

Usage

<script lang="ts">
	import { Visualizer } from '@viamrobotics/visualization'
	import { SensorCoverage } from '@viamrobotics/visualization/plugins'
</script>

<div class="h-screen w-screen">
	<Visualizer partID="my-part-id">
		<SensorCoverage />
	</Visualizer>
</div>

Controls

Mounting the plugin adds a Sensors tab to the settings pane:

Control	Effect
Camera coverage	Master switch. Off draws nothing, and leaves the per-camera choices alone.
Range (m)	Far-plane depth. See Range below.
Cameras	Per-camera switches, with a note on any camera reporting no intrinsics.

Range

A camera reports no depth range, so how far the frustum reaches is a display choice rather than a camera property. The default is 2 m.

The near plane is fixed at the camera origin, which is why the four side edges converge to a point at the lens rather than being cut off by a near rectangle.

Which cameras draw

A camera is drawn when all of these hold:

• It reports intrinsicParameters with a positive focal length on both axes.
• Its principal point falls inside the image. A camera that reports the message but leaves the values zero fails this, and is listed as having no intrinsics rather than drawn skewed.
• It has a frame in the frame system. Without one there is no pose to draw from.

A frustum takes its colour from its frame’s own color, so it matches the rest of that camera’s geometry in the scene. It is excluded from hit-testing, so it never blocks a click on anything behind it.

Runtime requirements

GetProperties is called once per camera and never polled, since intrinsics are fixed for the life of a camera. The reply is fetched whether or not the drawing is switched on, so the settings panel can tell a camera with no intrinsics apart from one that is merely switched off.