raisim::SegmentationCamera::SegmentationCameraProperties

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

Configuration of a SegmentationCamera. Change it with setProperties().

Static member functions

stringToSegmentationType static

static SegmentationType stringToSegmentationType(const std::string &type)

Parameters

Parameter	Description
type (in)	"semantic", "instance" or "panoptic" (case-insensitive).

Returns The segmentation type. Fatal error for any other string.

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 added to the column index when computing ray directions.

yOffset

int yOffset

Vertical pixel offset added to the row index when computing ray directions.

clipNear

double clipNear

Near clipping distance along the optical axis in meters.

clipFar

double clipFar

Far clipping distance along the optical axis 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

Lens specification. CPU rays follow the pinhole or equidistant-fisheye projection; fisheye distortion coefficients are applied by rayrai only, as for DepthCamera.

segmentationType

SegmentationType segmentationType

Images to fill (default PANOPTIC: all of them).