Drake
RenderingConfig Struct Reference

Common configurations of rendering systems. More...

#include <drake/systems/sensors/rgbd_renderer.h>

Collaboration diagram for RenderingConfig:
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Public Attributes

const int width {kDefaultWidth}
 The width of the image to be rendered in pixels. More...
 
const int height {kDefaultHeight}
 The height of the image to be rendered in pixels. More...
 
const double fov_y
 The renderer's camera vertical field of view in radians. More...
 
const double z_near
 The minimum depth RgbdRenderer can output. More...
 
const double z_far
 The maximum depth RgbdRenderer can output. More...
 
const bool show_window {kDefaultShowWindow}
 A flag for showing visible windows for RGB and label images. More...
 

Static Public Attributes

static constexpr int kDefaultWidth {640}
 Default value for width. More...
 
static constexpr int kDefaultHeight {480}
 Default value for height. More...
 
static constexpr bool kDefaultShowWindow {false}
 Default value for show_window. More...
 

Detailed Description

Common configurations of rendering systems.

Member Data Documentation

const double fov_y

The renderer's camera vertical field of view in radians.

const int height {kDefaultHeight}

The height of the image to be rendered in pixels.

constexpr int kDefaultHeight {480}
static

Default value for height.

constexpr bool kDefaultShowWindow {false}
static

Default value for show_window.

constexpr int kDefaultWidth {640}
static

Default value for width.

const bool show_window {kDefaultShowWindow}

A flag for showing visible windows for RGB and label images.

If this is false, offscreen rendering is executed. This is useful for debugging purposes.

const int width {kDefaultWidth}

The width of the image to be rendered in pixels.

const double z_far

The maximum depth RgbdRenderer can output.

Note that this is different from renderer's clipping range where all the objects outside the range are not rendered even in RGB image while this only affects depth image.

const double z_near

The minimum depth RgbdRenderer can output.

Note that this is different from renderer's clipping range where all the objects outside the range are not rendered even in RGB image while this only affects depth image.


The documentation for this struct was generated from the following file: