raisim::RGBCamera::RGBCameraProperties

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

Configuration of an RGBCamera. Change it with setProperties().

Public types

NoiseType

enum class NoiseType : int

Additive read-noise distribution, applied to 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.

height

int height

Image height in pixels.

xOffset

int xOffset

Horizontal pixel offset for the capture window.

yOffset

int yOffset

Vertical pixel offset for the capture window.

clipNear

double clipNear

Near clipping plane in meters.

clipFar

double clipFar

Far clipping plane in meters.

hFOV

double hFOV

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

lens

CameraLensModel lens

Renderer lens specification serialized with the sensor metadata. Defaults to pinhole.

noiseType

enum raisim::RGBCamera::RGBCameraProperties::NoiseType noiseType

Selected noise model (default NO_NOISE).

mean

double mean

Additive read-noise mean in normalized intensity units (1 is full scale).

std

double std

Read-noise standard deviation in normalized intensity units.

shotNoise

double shotNoise

Signal-dependent Gaussian variance coefficient: variance = shotNoise * intensity. This is the high photon-count approximation to shot noise, in the rendered color space.

rowNoiseStd

double rowNoiseStd

Standard deviation of a Gaussian row offset shared by the three color channels.

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 buffer always has 4 bytes per pixel.