raisin::tcp_viewer::SensorInfo

struct · #include <rayrai/TcpRemoteSceneState.hpp>

Metadata for a remote sensor.

Public attributes

parentTag

uint32_t parentTag

Visual tag of the articulated system that owns the sensor.

type

raisim::Sensor::Type type

Sensor kind.

name

std::string name

Sensor name.

width

int width

Image width in pixels (RGB/depth only; 0 if the server sent an invalid size).

height

int height

Image height in pixels (RGB/depth only; 0 if the server sent an invalid size).

yawSamples

int yawSamples

Horizontal sample count (spinning lidar only).

pitchSamples

int pitchSamples

Vertical sample count (spinning lidar only).

clipNear

double clipNear

Near clip distance (RGB/depth only).

clipFar

double clipFar

Far clip distance (RGB/depth only).

hFov

double hFov

Horizontal field of view as sent by the server (RGB/depth only).

lens

raisim::CameraLensModel lens

Projection and intrinsics (RGB/depth only).

source

raisim::Sensor::MeasurementSource source

Who produces measurements; the viewer renders only MANUAL RGB/depth sensors.

viewerUpdateRequested

bool viewerUpdateRequested

True when the server asked the viewer to render this sensor in the latest update.

position

glm::vec3 position

World-frame sensor position.

orientation

glm::vec4 orientation

Sensor orientation in GLM xyzw component layout.