raisin::Camera

class · #include <rayrai/Camera.hpp>

Camera for offscreen rendering and interaction.

The camera owns its render targets (scene color/depth, post-process, linear depth, and picking). It can be driven by user input or by raisim sensor parameters.

Nested classes

• struct RenderTargetDiagnostics — Internal: diagnostics snapshot of one camera-owned render target (returned by renderTargetDiagnostics()).

Public types

ProjectionMode

enum class ProjectionMode

Projection mode for view generation.

Enumerator	Description
PERSPECTIVE	Vertical FOV from zoom.
ORTHOGRAPHIC	Vertical extent from orthoScale.

SensorStorageMode

enum class SensorStorageMode

Storage mode for extracting rendered images.

Enumerator	Description
SENSOR_SETTER	Copy into the raisim sensor (setImageBuffer() / setDepthArray()).
CUSTOM_BUFFER	Write into a caller-provided buffer.

Constructors & destructor

Camera

explicit Camera(
    glm::vec3 position=glm::vec3(5.0f, 4.0f, 5.0f),
    glm::vec3 up=glm::vec3(0.0f, 0.0f, 1.0f),
    float yaw=-135.0f,
    float pitch=-30.0f)

Construct a camera with a position, up vector, and yaw/pitch.

Does not allocate GL resources. The view direction is (cos(yaw)cos(pitch), sin(yaw)cos(pitch), sin(pitch)), i.e. yaw is measured about +Z from +X and pitch upward from the XY plane (Z-up world).

Parameters

Parameter	Description
position	Camera position in world coordinates.
up	World up vector (stored in worldUp).
yaw	Initial yaw angle in degrees.
pitch	Initial pitch angle in degrees.

explicit Camera(raisim::RGBCamera &rgbCam)

Construct a camera from a raisim RGB camera (and allocate targets).

Copies resolution, clip planes, horizontal FOV (radians, or degrees if greater than pi) and lens model, then allocates the scene targets, so a GL context must be current. The pose is not copied.

Parameters

Parameter	Description
rgbCam	Raisim RGB camera to mirror.

explicit Camera(const raisim::RGBCamera &rgbCam)

Construct a camera from a const raisim RGB camera.

Parameters

Parameter	Description
rgbCam	Raisim RGB camera to mirror.

explicit Camera(raisim::DepthCamera &depthCam)

Construct a depth camera and allocate only its linear-depth target. Scene color targets are allocated if this camera is later used for RGB. Requires a current GL context; projection setup is as for the RGB overload.

Parameters

Parameter	Description
depthCam	Raisim depth camera to mirror.

explicit Camera(const raisim::DepthCamera &depthCam)

Construct a camera from a const raisim depth camera.

Parameters

Parameter	Description
depthCam	Raisim depth camera to mirror.

explicit Camera(const raisim::DepthCamera::DepthCameraProperties &properties)

Build render targets from copied calibration; never accesses a live sensor.

explicit Camera(const raisim::RGBCamera::RGBCameraProperties &properties)

Camera(const Camera &) = delete

Camera(Camera &&) = delete

~Camera

~Camera()

Public member functions

operator=

Camera &operator=(const Camera &) = delete

Camera &operator=(Camera &&) = delete

instanceId

std::uint64_t instanceId() const

Returns Process-unique id assigned at construction (never reused).

update

void update(bool processKeyboard=true)

Update camera orientation and handle input.

Recomputes front, right and up from yaw / pitch. When a target object or fixed distance is active, the camera is placed on the orbit around getTargetPosition() instead.

Parameters

Parameter	Description
processKeyboard	If true, WASD and Space (along worldUp) move the camera by movementSpeed per second assuming a fixed 1/60 s step. Ignored while orbiting a target or with a fixed distance.

getViewMatrix

glm::mat4 getViewMatrix() const

Get the view matrix for the current camera pose.

Returns View matrix in column-major GLM format.

getProjectionMatrix

glm::mat4 getProjectionMatrix() const

Get the projection matrix for the current camera state.

Returns Projection matrix in column-major GLM format.

getProjectionClipRange

glm::vec2 getProjectionClipRange() const

Near/far distances actually used by getProjectionMatrix().

Near is the smaller of nearPlane and zNear (when positive) and far the larger of farPlane and zFar, with fallbacks for invalid values.

Returns (near, far) in metres.

setProjectionJitterPixels

void setProjectionJitterPixels(const glm::vec2 &jitterPixels)

Set subpixel projection jitter in pixels for temporal AA style viewer rendering.

Parameters

Parameter	Description
jitterPixels	Offset in render-target pixels.

clearProjectionJitter

void clearProjectionJitter()

Clear projection jitter.

projectionJitterPixels

glm::vec2 projectionJitterPixels() const

Returns Current projection offset in render-target pixels (zero for sensor opt-out).

getPosition

glm::vec3 getPosition() const

Get the current camera position.

Returns Position in world coordinates.

mouseDelta

void mouseDelta(float yawOffset, float pitchOffset)

Apply mouse delta to yaw/pitch or pan in orthographic mode.

Perspective: yaw -= yawOffset, pitch += pitchOffset (pitch clamped to +-89 deg). Orthographic: pans the position by 0.05 m per unit. Call update() afterwards to refresh the direction vectors.

Parameters

Parameter	Description
yawOffset	Delta yaw in degrees (screen-space delta).
pitchOffset	Delta pitch in degrees (screen-space delta).

moveForward

void moveForward(float steps)

Move forward/backward or zoom in orthographic mode.

Free perspective camera: moves steps metres along front. Orthographic: scales orthoScale by 0.9^steps (min 0.1), so positive zooms in. Orbiting a target or with a fixed distance: scales the orbit distance by 1.2^steps (min 0.05 m), so positive steps move away from the target.

Parameters

Parameter	Description
steps	Signed step count (e.g. mouse-wheel delta).

setCameraFixedDistance

void setCameraFixedDistance(bool fixed)

Lock camera distance while orbiting.

Parameters

Parameter	Description
fixed	True to keep distance constant.

isCameraFixedDistance

bool isCameraFixedDistance() const

Returns True when the orbit distance is locked.

cameraFixedDistance

float cameraFixedDistance() const

Returns Current orbit distance in metres (tracked while orbiting, locked when fixed).

setCameraFixedTarget

void setCameraFixedTarget(bool fixed)

Lock the target position to a fixed point.

Parameters

Parameter	Description
fixed	True to use the target field as the orbit/look-at point.

isCameraFixedTarget

bool isCameraFixedTarget() const

Returns True when the camera target is locked to a fixed point.

setTargetObject

void setTargetObject(raisim::Object *target)

Set a raisim object to track as the camera target.

A non-null object clears the fixed-target lock. The camera never reads the object: the RayraiWindow that renders with this camera follows its origin in the rendered physics frame (followTargetObject()), and releases the camera once the object is gone. A fixed distance locked before the first followed frame is measured on that frame.

Parameters

Parameter	Description
target	Raisim object to follow, or nullptr to clear.

releaseTarget

void releaseTarget()

Stop following: clears the target object and the fixed-target and fixed-distance locks.

followTargetObject

bool followTargetObject(uint64_t instance, const glm::vec3 &position)

Internal: the followed targetObject as rendered, set by RayraiWindow whenever it renders; applications do not call this.

A camera that update() placed moves with the object.

Parameters

Parameter	Description
instance	RaisimObject::instanceId() of the object's drawable.
position	World position of the object's origin.

Returns False when another object now has the target's address: the caller releases it.

setProjectionMode

void setProjectionMode(ProjectionMode mode)

Set projection mode.

Parameters

Parameter	Description
mode	Projection mode (perspective or orthographic).

getProjectionMode

ProjectionMode getProjectionMode() const

Get the active projection mode.

Returns Current projection mode.

setLensModel

void setLensModel(const raisim::CameraLensModel &lens, double hFovRad)

Configure the camera lens model used for sensor rendering.

Only stores the lens and horizontalFovRad; it does not change zoom.

Parameters

Parameter	Description
lens	Lens model (pinhole or fisheye).
hFovRad	Horizontal field of view in radians.

getLensModel

const raisim::CameraLensModel &getLensModel() const

Get the active sensor lens model.

Returns Reference to the stored lens model.

isFisheyeLens

bool isFisheyeLens() const

Returns True when the camera is configured for OpenCV/ROS equidistant fisheye output.

applyFisheyeRemap

void applyFisheyeRemap(Shader &fisheyeShader)

Resample scene color through the fisheye lens model.

No-op unless isFisheyeLens() and scene targets exist. Renders into the post target and blits the result back into the scene color texture.

Parameters

Parameter	Description
fisheyeShader	Fisheye remap shader (bound here).

getTargetPosition

glm::vec3 getTargetPosition() const

Get the current target position for orbiting.

Returns target when the fixed-target lock is on, else the target object's position, else the world origin.

ensureRenderTargets

void ensureRenderTargets(int width, int height)

Ensure render targets match the given size.

(Re)allocates the scene color/depth targets (and the MSAA target when enabled) and updates aspect. Requires a current GL context; ignored for non-positive sizes.

Parameters

Parameter	Description
width	Render target width.
height	Render target height.

resizeRenderTargets

void resizeRenderTargets(int width, int height)

Resize render targets, retaining depth-only allocation when applicable.

Parameters

Parameter	Description
width	Render target width.
height	Render target height.

setSceneMsaaSamples

void setSceneMsaaSamples(int samples)

Set scene-color MSAA samples for future scene FBO rendering.

Values <= 1 disable MSAA. The resolved color/depth are still written into the existing single-sample texture targets so postprocessing and readback APIs keep working.

Parameters

Parameter	Description
samples	Requested sample count; values above 1 are clamped to [2, GL_MAX_SAMPLES].

void setSceneMsaaSamples(int samples, bool keepAllocation)

Same as setSceneMsaaSamples(), optionally keeping an existing multisampled target.

With keepAllocation, disabling MSAA keeps the multisampled renderbuffers so re-enabling the same sample count reuses them instead of reallocating. Every scene render clears the target before drawing, so reuse cannot change the image. A later call without keepAllocation that leaves MSAA disabled releases the kept target.

Parameters

Parameter	Description
samples	Requested sample count, as in the single-argument overload.
keepAllocation	Keep the multisampled renderbuffers when disabling MSAA.

sceneMsaaSamples

int sceneMsaaSamples() const

Returns Current scene-color MSAA sample count. 1 means disabled.

resolveSceneFboIfNeeded

void resolveSceneFboIfNeeded(bool restoreFramebuffer=true)

Resolve the multisampled scene target into the regular color/depth textures.

Parameters

Parameter	Description
restoreFramebuffer	Restore the previous read/draw framebuffer bindings afterwards.

ensurePostRenderTarget

void ensurePostRenderTarget()

Ensure the post-process render target exists.

ensureLinearDepthRenderTarget

void ensureLinearDepthRenderTarget()

Ensure the linear-depth render target exists.

bindSceneFbo

void bindSceneFbo()

Bind the scene framebuffer for rendering.

Binds the MSAA framebuffer when MSAA is enabled, allocating targets on demand.

bindPostFbo

void bindPostFbo()

Bind the post-process framebuffer for rendering.

bindLinearDepthFbo

void bindLinearDepthFbo()

Bind the linear-depth framebuffer for rendering.

rtWidth

int rtWidth() const

Current render target width.

Returns Width in pixels.

rtHeight

int rtHeight() const

Current render target height.

Returns Height in pixels.

beginSceneFboAndClear

void beginSceneFboAndClear(bool preserveState=true)

Bind scene FBO and clear color, depth and stencil with the background color.

Parameters

Parameter	Description
preserveState	Restore the color/depth/stencil write masks and scissor state afterwards; false leaves scissor disabled and masks enabled.

postProcessDoF

void postProcessDoF(
    Shader &postShader,
    bool fxaaEnabled=false,
    bool bloomEnabled=false,
    float bloomThreshold=0.82f,
    float bloomStrength=0.18f,
    float bloomRadius=4.0f,
    float bloomKnee=0.22f,
    int bloomQuality=1,
    float bloomSourceClamp=8.0f,
    float bloomAnamorphic=0.0f,
    float bloomDirtStrength=0.0f,
    float bloomDirtScale=1.0f,
    unsigned int bloomDirtTexture=0,
    int bloomBlendMode=0,
    float bloomMix=0.05f,
    const glm::vec3 &viewerWhiteBalance=glm::vec3(1.0f),
    float viewerSaturation=1.0f,
    bool screenSpaceAoEnabled=false,
    float screenSpaceAoRadius=2.0f,
    float screenSpaceAoStrength=0.0f,
    float screenSpaceAoBias=0.02f,
    int screenSpaceAoSamples=12,
    float screenSpaceAoFalloff=0.08f,
    bool screenSpaceAoRadiusWorldSpace=false,
    float screenSpaceAoMaxPixelRadius=48.0f,
    bool screenSpaceAoGeometryAware=false,
    float contactAoRadius=0.0f,
    float contactAoStrength=0.0f,
    int contactAoSamples=8,
    float contactAoFalloff=0.05f,
    bool screenSpaceAoDenoiseEnabled=false,
    float screenSpaceAoDenoiseStrength=0.0f,
    int screenSpaceAoDenoiseRadius=1,
    float screenSpaceAoDenoiseDepthSigma=0.035f,
    bool screenSpaceIndirectLightingEnabled=false,
    float screenSpaceIndirectLightingRadius=3.0f,
    float screenSpaceIndirectLightingStrength=0.0f,
    int screenSpaceIndirectLightingSamples=12,
    float screenSpaceIndirectLightingFalloff=0.22f,
    float screenSpaceIndirectLightingNormalRejection=0.75f,
    float screenSpaceIndirectLightingSaturation=1.0f,
    bool volumetricFogEnabled=false,
    float volumetricFogDensity=0.0f,
    float volumetricFogNoiseScale=6.0f,
    float volumetricFogNoiseStrength=0.55f,
    const glm::vec3 &volumetricFogColor=glm::vec3(0.72f, 0.80f, 0.90f),
    float volumetricFogAnisotropy=0.0f,
    float volumetricFogAnimationTimeSeconds=0.0f,
    const glm::vec2 &volumetricFogWindDirection=glm::vec2(1.0f, 0.0f),
    float volumetricFogWindSpeed=0.0f,
    float volumetricFogTurbulenceSpeed=0.0f,
    bool volumetricLightingEnabled=false,
    float volumetricLightStrength=0.0f,
    float volumetricLightDecay=0.88f,
    int volumetricLightSamples=16,
    const glm::vec2 &volumetricLightScreenPosition=glm::vec2(0.5f),
    const glm::vec3 &volumetricLightColor=glm::vec3(1.0f),
    int localFogVolumeCount=0,
    const std::array<glm::vec4, 8> &localFogVolumeCenterRadius={},
    const std::array<glm::vec4, 8> &localFogVolumeColorDensity={},
    const std::array<glm::vec4, 8> &localFogVolumeParams={},
    int projectedDecalCount=0,
    const std::array<glm::mat4, 8> &projectedDecalWorldToLocal={},
    const std::array<glm::vec4, 8> &projectedDecalColor={},
    const std::array<glm::vec4, 8> &projectedDecalParams={},
    const std::array<unsigned int, 8> &projectedDecalAlbedoMaps={},
    const std::array<unsigned int, 8> &projectedDecalEmissionMaps={},
    const std::array<unsigned int, 8> &projectedDecalNormalMaps={},
    const std::array<unsigned int, 8> &projectedDecalOrmMaps={},
    const std::array<glm::vec4, 8> &projectedDecalTextureParams={},
    const std::array<glm::vec4, 8> &projectedDecalSurfaceParams={},
    const std::array<glm::vec4, 8> &projectedDecalUvScaleOffset={},
    bool temporalAaEnabled=false,
    float temporalAaBlend=0.08f,
    bool temporalAaReset=false,
    int postProcessDebugMode=0,
    bool aerialPerspectiveEnabled=false,
    unsigned int apVolumeTex=0,
    float apStrength=1.0f,
    int viewerColorGradePreset=0,
    float viewerColorGradeStrength=1.0f,
    float viewerVignetteStrength=0.0f,
    float viewerChromaticAberrationStrength=0.0f,
    float viewerFilmGrainStrength=0.0f,
    float viewerLensCharacterTime=0.0f,
    bool lightShaftsEnabled=false,
    float lightShaftsStrength=1.0f,
    float lightShaftsDecay=0.965f,
    float lightShaftsDensity=1.0f,
    const glm::vec2 &lightShaftsSunScreenPos=glm::vec2(0.5f, 0.5f),
    const glm::vec3 &lightShaftsTint=glm::vec3(1.0f),
    float lensFlareGhostStrength=0.0f,
    float lensFlareStreakStrength=0.0f,
    const glm::vec3 &lensFlareTint=glm::vec3(1.0f),
    bool contactShadowsEnabled=false,
    float contactShadowsLength=0.12f,
    float contactShadowsStrength=0.7f,
    float contactShadowsThickness=0.08f,
    const glm::vec2 &contactShadowsSunScreenPos=glm::vec2(0.5f, 0.5f),
    const glm::vec3 &contactShadowsLightDirectionWorld=glm::vec3(0.0f, 0.0f, -1.0f),
    bool motionBlurEnabled=false,
    const glm::vec2 &motionBlurDirection=glm::vec2(0.0f),
    float motionBlurStrength=0.0f,
    bool ssrEnabled=false,
    float ssrStrength=0.0f,
    int ssrSteps=24,
    float ssrMaxDistance=6.0f,
    float ssrThickness=0.35f,
    bool heatHazeEnabled=false,
    float heatHazeStrength=0.0f,
    float heatHazeFrequency=4.0f,
    float heatHazeSpeed=1.0f,
    float heatHazeMaxY=0.55f,
    bool zoomBlurEnabled=false,
    float zoomBlurStrength=0.0f,
    const glm::vec2 &zoomBlurCenter=glm::vec2(0.5f),
    float zoomBlurInnerRadius=0.15f,
    bool posterizeEnabled=false,
    int posterizeLevels=4,
    bool starburstEnabled=false,
    float starburstStrength=0.0f,
    int starburstSpikes=6,
    float starburstAngleOffset=0.0f,
    float starburstRadius=0.35f,
    const glm::vec3 &starburstTint=glm::vec3(1.0f, 0.95f, 0.85f),
    bool lensDistortionEnabled=false,
    float lensDistortionStrength=0.0f,
    const glm::vec2 &lensDistortionCenter=glm::vec2(0.5f),
    bool underwaterEnabled=false,
    const glm::vec3 &underwaterTint=glm::vec3(0.30f, 0.60f, 0.85f),
    float underwaterCausticStrength=0.5f,
    float underwaterCausticScale=1.0f,
    float underwaterDepthExtinction=1.0f,
    bool pixelateEnabled=false,
    int pixelateBlockSize=4,
    bool nightVisionEnabled=false,
    float nightVisionStrength=0.0f,
    float nightVisionGain=2.5f,
    bool ditherEnabled=false,
    float ditherStrength=0.004f,
    bool thermalEnabled=false,
    float thermalStrength=0.0f,
    float thermalGain=1.5f,
    bool scanlineEnabled=false,
    float scanlineStrength=0.3f,
    float scanlineFrequency=360.0f,
    bool letterboxEnabled=false,
    float letterboxAspect=2.35f,
    const glm::vec3 &letterboxColor=glm::vec3(0.0f),
    Shader *aoPrepassShader=nullptr,
    Shader *contactShadowShader=nullptr)

Apply viewer post-processing.

Internal: called by RayraiWindow, which fills the long parameter list from its render-quality and weather settings. The remaining parameters map one-to-one onto post-shader uniforms. When no effect is enabled the pass is skipped and getFinalTexture() keeps returning the scene color.

Parameters

Parameter	Description
postShader	Shader configured for DoF, FXAA, and bloom.
fxaaEnabled	True to apply FXAA even when DoF is disabled.
aoPrepassShader	Optional leaner post program that runs the AO prepass, which caches AO for the denoiser, in place of postShader (null: postShader runs it).
contactShadowShader	Post program that renders only the unfiltered contact shadows of the filter taps, into a texture postShader then filters (uContactShadowTexture). Each tap is marched once although up to four pixels share it. Required when postShader declares that sampler and contact shadows are enabled; ignored otherwise. That program's decal map pool is one slot smaller.

resetTemporalHistory

void resetTemporalHistory()

Reset the temporal postprocess history before the next temporal frame.

updateAutoExposure

void updateAutoExposure(
    float targetKey,
    float speed,
    float minFactor,
    float maxFactor)

Sample mean scene-color luma and lerp the auto-exposure factor.

Every 4th call issues an asynchronous PBO readback of the smallest mip of the post-process (or scene) color; a completed earlier readback, if any, yields the mean luma, and autoExposureFactor_ is smoothed toward targetKey / mean. Never blocks: without a ready sample the factor is unchanged. Should be called once per frame, after post-process completes. The stored factor is then applied to the next frame's pbrExposure.

Parameters

Parameter	Description
targetKey	Desired mean luma (approximately linear, 0..1).
speed	Lerp factor per update, clamped to [0, 1].
minFactor	Lower clamp of the exposure factor.
maxFactor	Upper clamp of the exposure factor.

autoExposureFactor

float autoExposureFactor() const

Returns Smoothed auto-exposure multiplier from the previous frame.

debugAutoExposureIssuedReadbacks

size_t debugAutoExposureIssuedReadbacks() const

Internal:

Returns number of auto-exposure readbacks issued (diagnostics).

debugAutoExposureCompletedReadbacks

size_t debugAutoExposureCompletedReadbacks() const

Internal:

Returns number of auto-exposure readbacks consumed (diagnostics).

debugAutoExposureSkippedIssueFrames

size_t debugAutoExposureSkippedIssueFrames() const

Internal:

Returns readback slots skipped because the ring was full or fencing failed (diagnostics).

resetAutoExposure

void resetAutoExposure()

Reset auto-exposure to identity (no compensation).

temporalHistoryValid

bool temporalHistoryValid() const

Returns True if a temporal history texture is available for the current render target.

temporalHistoryFrameCount

int temporalHistoryFrameCount() const

Returns Number of post-process frames copied into temporal history since the last reset.

ensurePickFramebuffer

void ensurePickFramebuffer()

Ensure the picking framebuffer is created.

readPickIdAt

uint32_t readPickIdAt(int x, int y) const

Read the encoded pick id at a pixel coordinate.

Synchronous glReadPixels from the pick framebuffer.

Parameters

Parameter	Description
x	X coordinate in render-target pixels from the left.
y	Y coordinate in render-target pixels from the top (flipped internally).

Returns 24-bit id encoded in the pick texture's RGB bytes; 0 when out of bounds.

getPickFbo

unsigned int getPickFbo() const

Get the picking FBO id.

Returns OpenGL framebuffer id.

getFinalTexture

unsigned int getFinalTexture() const

Get the final texture to display (post or debug).

Returns Pick texture when setDebugShowPick(true), else the post-process color if post-processing ran since the last scene bind, else the scene color texture.

getSceneColorTex

unsigned int getSceneColorTex() const

Get the scene color texture id.

Returns Color texture id, or zero before scene targets are allocated.

getSceneDepthTex

unsigned int getSceneDepthTex() const

Get the scene depth texture id.

Returns Depth24/stencil8 texture id, or zero before scene targets are allocated.

getSceneFbo

unsigned int getSceneFbo() const

Get the scene framebuffer id.

Returns Single-sample scene FBO id; zero before a color render or explicit ensureRenderTargets().

getLinearDepthTexture

unsigned int getLinearDepthTexture() const

Get the linear depth texture id (R32F).

Returns Linear depth texture id, or zero before the linear-depth target is allocated.

renderTargetDiagnostics

std::vector<RenderTargetDiagnostics> renderTargetDiagnostics() const

Return a diagnostics-only snapshot of camera-owned render targets.

Queries framebuffer status, so a current GL context is required.

Returns One entry per target (scene, MSAA, post, temporal, bloom, picking, linear depth, ...).

getRawImage

void getRawImage(
    raisim::RGBCamera &sensor,
    SensorStorageMode mode=SensorStorageMode::SENSOR_SETTER,
    char *customBuffer=nullptr,
    size_t customBufferSize=0,
    bool flipVertical=true) const

Read the color buffer into a raisim RGB camera or custom buffer.

Synchronously reads the scene color target (before post-processing) as 8-bit BGRA, width*height*4 bytes; each channel is clamped to [0, 1] and rounded to the nearest 8-bit value. Hardware renderers pack the image on the GPU; software renderers convert native half-float pixels with exact CPU arithmetic. The sensor resolution must match the render target and the scene color target must exist (fatal otherwise). Requires a current GL context. The sensor's configured measurement noise is applied in place after readback, in either storage mode; each call advances that sensor's random stream.

Parameters

Parameter	Description
sensor	Raisim RGB camera providing the resolution; filled when using SENSOR_SETTER.
mode	Storage mode (sensor setter or custom buffer).
customBuffer	Destination for BGRA bytes when using CUSTOM_BUFFER (required then).
customBufferSize	Size of custom buffer in bytes (at least width*height*4).
flipVertical	Whether to flip rows from GL origin to image origin.

void getRawImage(
    raisim::DepthCamera &sensor,
    SensorStorageMode mode=SensorStorageMode::SENSOR_SETTER,
    float *customBuffer=nullptr,
    size_t customBufferLength=0,
    bool flipVertical=true) const

Read the linear depth buffer into a raisim depth camera or custom buffer.

Synchronous read of the R32F linear-depth target. With flipVertical the rows are reversed on the GPU for hardware renderers or in CPU memory for software renderers, preserving sample bytes. The sensor resolution must match the render target and the linear-depth target must exist (fatal otherwise). The sensor's configured measurement noise, quantization and dropout are applied in place in either storage mode. Readback does not populate the sensor's 3D points.

Parameters

Parameter	Description
sensor	Raisim depth camera providing the resolution; filled when using SENSOR_SETTER.
mode	Storage mode (sensor setter or custom buffer).
customBuffer	Destination for float depth values when using CUSTOM_BUFFER (required then).
customBufferLength	Length of custom buffer in floats (at least width*height).
flipVertical	Whether to flip rows from GL origin to image origin.

readSceneColorBgra

void readSceneColorBgra(
    char *destination,
    size_t bytes,
    bool flipVertical=true) const

Synchronous BGRA8 readback into application-owned storage; no raisim sensor is accessed.

readLinearDepth

void readLinearDepth(
    float *destination,
    size_t samples,
    bool flipVertical=true) const

Synchronous float32 plane-depth readback; no raisim sensor is accessed.

setAsyncReadbackEnabled

void setAsyncReadbackEnabled(bool enabled, size_t ringSize=3)

Configure optional PBO-backed readback helpers.

Sensor getRawImage() remains synchronous by default. After the configured PBO ring fills, the async helpers return an earlier completed frame and normally lag by ringSize calls.

Parameters

Parameter	Description
enabled	Enable the async helpers; disabling releases the PBOs.
ringSize	Number of PBOs per ring (min 2).

isAsyncReadbackEnabled

bool isAsyncReadbackEnabled() const

Returns True when the async readback helpers are enabled.

readSceneColorRgbaAsync

bool readSceneColorRgbaAsync(
    std::vector<unsigned char> &rgba,
    bool flipVertical=true) const

Queue a readback of the scene color (RGBA8) and fetch the oldest pending one.

Parameters

Parameter	Description
rgba (out)	Filled with width*height*4 bytes when a frame is returned.
flipVertical	Whether to flip rows from GL origin to image origin.

Returns True if rgba was filled; false while the ring is filling, when disabled, or without a scene color target.

readLinearDepthAsync

bool readLinearDepthAsync(
    std::vector<float> &depth,
    bool flipVertical=true) const

Queue a readback of the linear depth (float) and fetch the oldest pending one.

Parameters

Parameter	Description
depth (out)	Filled with width*height floats when a frame is returned.
flipVertical	Whether to flip rows from GL origin to image origin.

Returns True if depth was filled; false while the ring is filling, when disabled, or without a linear-depth target.

setBackgroundColor

void setBackgroundColor(const glm::vec4 &c)

Set the background clear color using legacy 0..255 RGBA channels.

Parameters

Parameter	Description
c	RGBA color where each channel is in [0, 255].

Prefer setBackgroundColorRgb255() in new code to make the range explicit.

setBackgroundColorRgb255

void setBackgroundColorRgb255(const glm::vec4 &c)

Set the background clear color using 0..255 RGBA channels.

Parameters

Parameter	Description
c	RGBA color where each channel is in [0, 255].

setBackgroundColorLinear

void setBackgroundColorLinear(const glm::vec4 &c)

Set the background clear color using linear 0..1 RGBA channels.

Parameters

Parameter	Description
c	Linear RGBA color where each channel is in [0, 1].

getBackgroundColor

glm::vec4 getBackgroundColor() const

Get the background clear color.

Returns Legacy RGBA color in [0, 255].

getBackgroundColorLinear

glm::vec4 getBackgroundColorLinear() const

Get the background clear color in linear 0..1 channels.

Returns Linear RGBA color in [0, 1].

setGamma

void setGamma(float g)

Set the display gamma (output encoded as c^(1/g); default 1).

Applied to the background clear color and passed to the scene shaders.

Parameters

Parameter	Description
g	Gamma value.

getGamma

float getGamma() const

Get gamma correction value.

Returns Gamma value.

setDOFEnabled

void setDOFEnabled(bool e)

Enable or disable DoF.

Parameters

Parameter	Description
e	True to enable.

getDOFEnabled

bool getDOFEnabled() const

Get DoF enabled state.

Returns True if DoF is enabled.

getDOFFocusDistance

float getDOFFocusDistance() const

Returns DoF focus distance in metres.

getDOFFocusRange

float getDOFFocusRange() const

Returns Width of the fully sharp band in metres.

getDOFMaxRadius

float getDOFMaxRadius() const

Returns Maximum blur (bokeh) radius in pixels.

setDOFParams

void setDOFParams(float focusDist, float focusRange, float maxRadius)

Set DoF parameters.

Parameters

Parameter	Description
focusDist	Focus distance in metres.
focusRange	Width of the fully sharp band centred on the focus distance, in metres.
maxRadius	Max blur (bokeh) radius in pixels.

setDebugShowPick

void setDebugShowPick(bool e)

Toggle rendering of the pick buffer for debugging.

Parameters

Parameter	Description
e	True to show pick buffer.

isDebugShowingPick

bool isDebugShowingPick() const

Check if the pick buffer is shown for debugging.

Returns True if pick buffer is displayed.

Static member functions

unbindFbo static

static void unbindFbo()

Unbind any framebuffer (bind default).

Public attributes

position

glm::vec3 position

Camera pose and view parameters (public for quick access).

Distances are in world units (typically metres). Angles in degrees unless the field name ends in Rad. nearPlane/farPlane and zNear/zFar are overlapping pairs from earlier API revisions: they are not aliases; the projection uses the wider of the two ranges (see getProjectionClipRange()), so with the default zNear of 0.01 raising only nearPlane has no effect. Prefer nearPlane/farPlane in new code.

position, front, up, right are world-space; front/up/right are recomputed by update(). target is the orbit point used only while setCameraFixedTarget(true) is active. worldUp is the up reference.

front

glm::vec3 front

Unit view direction (world).

target

glm::vec3 target

Fixed orbit/look-at point, used while setCameraFixedTarget(true).

up

glm::vec3 up

Camera up vector (world), orthogonal to front.

right

glm::vec3 right

Camera right vector (world).

worldUp

glm::vec3 worldUp

World up reference used to build right and for Space-key motion.

yaw

float yaw

Yaw in degrees, measured about +Z from +X.

pitch

float pitch

Degrees.

Pitch in degrees above the XY plane (clamped to +-89 by mouseDelta()).

movementSpeed

float movementSpeed

Keyboard movement speed in m/s (default 5).

zoom

float zoom

Vertical field of view in degrees used by the perspective projection (default 45).

aspect

float aspect

Horizontal / vertical.

horizontalFovRad

float horizontalFovRad

Radians (45°).

Horizontal FOV in radians used by the lens model / fisheye remap only; the perspective projection uses zoom. The constructor derives it from the default 45 deg vertical FOV and 16:9 aspect.

nearPlane

float nearPlane

Near clip distance in metres (see getProjectionClipRange()).

farPlane

float farPlane

Metres.

Far clip distance in metres (see getProjectionClipRange()).

orthoScale

float orthoScale

Metres of vertical view extent in ortho mode.

zNear

float zNear

Legacy near clip in metres; the smaller of this and nearPlane is used.

zFar

float zFar

Metres. Legacy aliases — prefer nearPlane/farPlane.

Legacy far clip in metres; the larger of this and farPlane is used.

targetObject

raisim::Object *targetObject

Current target raisim object (if any); an identity key, never dereferenced.