raisim::World::DepthCameraProperties

struct · #include <raisim/World.hpp>

Settings of the CPU ray-cast depth camera used by captureDepthCamera().

Public types

DepthNoiseType

enum class DepthNoiseType : int

Noise added to each valid depth sample.

Enumerator	Value	Description
NONE	0	no noise
GAUSSIAN		normal noise with mean depthNoiseMean and standard deviation depthNoiseStd
UNIFORM		uniform noise in [depthNoiseMean - depthNoiseStd, depthNoiseMean + depthNoiseStd]

Public attributes

width

int width

Image width in pixels. Must be positive.

height

int height

Image height in pixels. Must be positive.

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 camera forward axis (m). Must satisfy 0 <= clipNear < clipFar.

clipFar

double clipFar

Far clipping distance (m). Also the maximum ray length.

hFOV

double hFOV

Horizontal field of view (rad). Must be in (0, pi). The vertical field follows from the aspect ratio.

captureDepth

bool captureDepth

Fill DepthCameraFrame::depth.

captureSegmentation

bool captureSegmentation

Fill DepthCameraFrame::segmentation.

capturePoints

bool capturePoints

Fill DepthCameraFrame::points.

depthNoiseType

DepthNoiseType depthNoiseType

Noise model applied to depth values.

depthNoiseMean

double depthNoiseMean

Noise mean (m).

depthNoiseStd

double depthNoiseStd

Noise standard deviation (GAUSSIAN) or half range (UNIFORM) (m).

depthNoiseSeed

std::uint32_t depthNoiseSeed

Seed of the noise generator. The generator is re-seeded on every capture, so identical scenes give identical noise.