Drake
RenderingConfig Struct Reference

Common configurations of rendering systems. More...

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

Public Member Functions

 RenderingConfig (int width_in, int height_in, double fov_y_in, double z_near_in, double z_far_in, bool show_window_in)
 

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.

Constructor & Destructor Documentation

◆ RenderingConfig()

RenderingConfig ( int  width_in,
int  height_in,
double  fov_y_in,
double  z_near_in,
double  z_far_in,
bool  show_window_in 
)
inline

Member Data Documentation

◆ fov_y

const double fov_y

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

◆ height

const int height {kDefaultHeight}

The height of the image to be rendered in pixels.

◆ kDefaultHeight

constexpr int kDefaultHeight {480}
static

Default value for height.

◆ kDefaultShowWindow

constexpr bool kDefaultShowWindow {false}
static

Default value for show_window.

◆ kDefaultWidth

constexpr int kDefaultWidth {640}
static

Default value for width.

◆ show_window

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.

◆ width

const int width {kDefaultWidth}

The width of the image to be rendered in pixels.

◆ z_far

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.

◆ z_near

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: