raisim::DepthCamera::DepthCameraProperties

struct · #include <raisim/sensors/DepthSensor.hpp>

Configuration of a DepthCamera. Call updateRayDirections() after modifying it in place.

Public types

NoiseType

enum class NoiseType : int

Additive depth-noise distribution, applied to CPU and Rayrai simulated captures.

Enumerator	Value	Description
GAUSSIAN	0	Gaussian noise.
UNIFORM		Uniform noise.
NO_NOISE		No noise.

Static member functions

stringToNoiseType static

static NoiseType stringToNoiseType(const std::string &type)

Parameters

Parameter	Description
type (in)	Noise name.

Returns GAUSSIAN for "gaussian"/"Gaussian", UNIFORM for "uniform"/"Uniform", otherwise NO_NOISE.

Public attributes

name

std::string name

Sensor name (without the sensor set prefix).

full_name

std::string full_name

Sensor name including the sensor set prefix.

width

int width

Image width in pixels. PHY-090: safe defaults so direct construction cannot allocate a huge buffer or divide by zero before the loader fills real values.

height

int height

Image height in pixels.

xOffset

int xOffset

Horizontal pixel offset added to the column index when computing ray directions (shifts the capture window).

yOffset

int yOffset

Vertical pixel offset added to the row index when computing ray directions (shifts the capture window).

clipNear

double clipNear

Near clipping distance in meters, measured along the optical axis. Closer hits are ignored.

clipFar

double clipFar

Far clipping distance in meters, measured along the optical axis. Also the maximum ray length.

hFOV

double hFOV

Horizontal field of view in radians. Must be in (0, pi) for pinhole and (0, pi] for fisheye.

lens

CameraLensModel lens

Lens specification. CPU depth rays follow the pinhole or equidistant-fisheye projection (fisheye uses the lens intrinsics if set); fisheye distortion coefficients are not applied.

noiseType

enum raisim::DepthCamera::DepthCameraProperties::NoiseType noiseType

Selected noise model (default NO_NOISE).

mean

double mean

Additive depth bias in meters (used when noiseType is not NO_NOISE).

std

double std

Depth-noise standard deviation at zero distance, in meters.

stdDepthSquared

double stdDepthSquared

Additional standard deviation per squared meter of optical depth: sigma(z) = std + stdDepthSquared * z * z, in meters.

resolution

double resolution

Depth quantization step in meters; zero disables quantization.

dropoutProbability

double dropoutProbability

Probability of discarding a valid pixel. Discarded/out-of-range depths become NaN.

seed

uint32_t seed

Zero derives a stream from sensor identity and owner id; nonzero selects an explicit stream. The World environment seed is mixed into both.

format

std::string format

Pixel format string, stored and serialized as metadata. The depth buffer itself is always float.