robokudo.descriptors.camera_configs.config_semdt_raytracer
==========================================================

.. py:module:: robokudo.descriptors.camera_configs.config_semdt_raytracer


Classes
-------

.. autoapisummary::

   robokudo.descriptors.camera_configs.config_semdt_raytracer.SemDTRayTracerCameraConfig


Module Contents
---------------

.. py:class:: SemDTRayTracerCameraConfig

   Bases: :py:obj:`robokudo.descriptors.camera_configs.base_camera_config.BaseCameraConfig`


   Configuration for a simulated RGB-D camera backed by SemDT's RayTracer.


   .. py:attribute:: registry_name
      :type:  typing_extensions.ClassVar[str]
      :value: 'semdt_raytracer'


      Name of the camera configuration in the registry.

      Must be unique.



   .. py:attribute:: interface_type
      :type:  str
      :value: 'SemDTRayTracer'


      Type of camera interface.



   .. py:attribute:: world_descriptor_ros_package
      :type:  str
      :value: 'robokudo'


      ROS package containing the world descriptor module.



   .. py:attribute:: world_descriptor_name
      :type:  str
      :value: 'world_semdt_raytracer_tabletop'


      Module name in descriptors/worlds that defines class WorldDescriptor.



   .. py:attribute:: world_frame
      :type:  typing_extensions.Optional[str]
      :value: None


      World frame to use as camera pose reference. If None, descriptor root is used.



   .. py:attribute:: camera_frame
      :type:  str
      :value: 'semdt_camera_optical_frame'


      Name of the camera optical frame in the SemDT world.



   .. py:attribute:: camera_x
      :type:  float
      :value: -1.2



   .. py:attribute:: camera_y
      :type:  float
      :value: 0.4



   .. py:attribute:: camera_z
      :type:  float
      :value: 1.05



   .. py:attribute:: camera_roll
      :type:  float
      :value: -2.2689280275926285



   .. py:attribute:: camera_pitch
      :type:  float
      :value: 0.0



   .. py:attribute:: camera_yaw
      :type:  float
      :value: -0.2707963267948965


      Camera optical-frame pose (x right, y down, z forward) in world frame (xyz + rpy).



   .. py:attribute:: resolution
      :type:  int
      :value: 512


      Square output resolution in pixels (width == height).



   .. py:attribute:: fov_deg
      :type:  float
      :value: 90.0


      Symmetric horizontal/vertical field of view in degrees.



   .. py:attribute:: min_distance
      :type:  float
      :value: 0.05



   .. py:attribute:: max_distance
      :type:  float
      :value: 8.0


      RayTracer hit distance interval in meters.



   .. py:attribute:: color2depth_ratio
      :type:  typing_extensions.Tuple[float, float]
      :value: (1.0, 1.0)


      Scale factor from RGB image to depth image resolution.



   .. py:attribute:: rgb_mode
      :type:  str
      :value: 'semantic'


      RGB rendering mode: 'semantic' or 'trimesh' (falls back to semantic on failure).