RenderCameraCore Class Reference

Detailed Description

Collection of core parameters for modeling a pinhole-model camera in a RenderEngine.

These parameters are applicable to both depth and color/label renderings. Parameters specific to those output image types can be found below.

While these parameters are generally applicable to all RenderEngine implementations, this is not guaranteed to be true. For example, the clipping range property only applies to frustum-based RenderEngine implementations. I.e., it wouldn't apply to a ray-tracing based implementation.

#include <drake/geometry/render/render_camera.h>

Public Member Functions
	RenderCameraCore (std::string renderer_name, systems::sensors::CameraInfo intrinsics, ClippingRange clipping, math::RigidTransformd X_BS)
	Fully-specified constructor. More...
const std::string &	renderer_name () const
	The name of the render engine this camera should be used with. More...
const systems::sensors::CameraInfo &	intrinsics () const
	The camera's intrinsic properties (e.g., focal length, sensor size, etc.) See systems::sensors::CameraInfo for details. More...
const ClippingRange &	clipping () const
	The near and far clipping planes for this camera. More...
const math::RigidTransformd &	sensor_pose_in_camera_body () const
	The pose of the sensor frame (S) in the camera's body frame (B). More...
Eigen::Matrix4d	CalcProjectionMatrix () const
	Expresses this camera's pinhole camera properties as the projective transform T_DC which transforms points in a camera's frame C to a 2D, normalized device frame D. More...
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	RenderCameraCore (const RenderCameraCore &)=default
RenderCameraCore &	operator= (const RenderCameraCore &)=default
	RenderCameraCore (RenderCameraCore &&)=default
RenderCameraCore &	operator= (RenderCameraCore &&)=default

Constructor & Destructor Documentation

RenderCameraCore() [1/3]

RenderCameraCore ( const RenderCameraCore &  )

default

RenderCameraCore() [2/3]

RenderCameraCore ( RenderCameraCore &&  )

default

RenderCameraCore() [3/3]

RenderCameraCore	(	std::string	renderer_name,
		systems::sensors::CameraInfo	intrinsics,
		ClippingRange	clipping,
		math::RigidTransformd	X_BS
	)

Fully-specified constructor.

See the documentation on the member getter methods for documentation of parameters.

Member Function Documentation

CalcProjectionMatrix()

Eigen::Matrix4d CalcProjectionMatrix

(

)

const

Expresses this camera's pinhole camera properties as the projective transform T_DC which transforms points in a camera's frame C to a 2D, normalized device frame D.

The transform is represented by a 4x4 matrix (i.e., a classic OpenGl projection matrix).

clipping()

const ClippingRange& clipping

(

)

const

The near and far clipping planes for this camera.

This property is ignored by RenderEngine implementations that don't use a clipping frustum.

intrinsics()

const systems::sensors::CameraInfo& intrinsics

(

)

const

The camera's intrinsic properties (e.g., focal length, sensor size, etc.) See systems::sensors::CameraInfo for details.

operator=() [1/2]

RenderCameraCore& operator= ( const RenderCameraCore &  )

default

operator=() [2/2]

RenderCameraCore& operator= ( RenderCameraCore &&  )

default

renderer_name()

const std::string& renderer_name

(

)

const

The name of the render engine this camera should be used with.

sensor_pose_in_camera_body()

const math::RigidTransformd& sensor_pose_in_camera_body

(

)

const

The pose of the sensor frame (S) in the camera's body frame (B).

This is the "imager" referred to in systems::sensors::CameraInfo's documentation.

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

• drake/geometry/render/render_camera.h