robokudo.descriptors.camera_configs.config_semdt_raytracer

Classes

SemDTRayTracerCameraConfig

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

Module Contents

class robokudo.descriptors.camera_configs.config_semdt_raytracer.SemDTRayTracerCameraConfig

Bases: robokudo.descriptors.camera_configs.base_camera_config.BaseCameraConfig

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

registry_name: typing_extensions.ClassVar[str] = 'semdt_raytracer'

Name of the camera configuration in the registry.

Must be unique.

interface_type: str = 'SemDTRayTracer'

Type of camera interface.

world_descriptor_ros_package: str = 'robokudo'

ROS package containing the world descriptor module.

world_descriptor_name: str = 'world_semdt_raytracer_tabletop'

Module name in descriptors/worlds that defines class WorldDescriptor.

world_frame: typing_extensions.Optional[str] = None

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

camera_frame: str = 'semdt_camera_optical_frame'

Name of the camera optical frame in the SemDT world.

camera_x: float = -1.2

camera_y: float = 0.4

camera_z: float = 1.05

camera_roll: float = -2.2689280275926285

camera_pitch: float = 0.0

camera_yaw: float = -0.2707963267948965

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

resolution: int = 512

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

fov_deg: float = 90.0

Symmetric horizontal/vertical field of view in degrees.

min_distance: float = 0.05

max_distance: float = 8.0

RayTracer hit distance interval in meters.

color2depth_ratio: typing_extensions.Tuple[float, float] = (1.0, 1.0)

Scale factor from RGB image to depth image resolution.

rgb_mode: str = 'semantic'

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