raisim::World::DepthCameraFrame

struct · #include <raisim/World.hpp>

Output of captureDepthCamera(). Pixel buffers are row-major (index = row * width + column), starting at the top-left pixel.

Public attributes

width

int width

Image width in pixels.

height

int height

Image height in pixels.

timeStamp

double timeStamp

World time (s) at capture.

depth

std::vector<float> depth

Depth along the camera forward axis (m); NaN where nothing was hit within the clip range. Empty if not captured.

segmentation

std::vector<int> segmentation

World index (Object::getIndexInWorld()) of the hit object; -1 for background. Empty if not captured.

points

std::vector<Vec<3>, AlignedAllocator<Vec<3>, 32>> points

Hit positions in the world frame (m); NaN where nothing was hit. Empty if not captured.