A camera capturing 3D points cloud
This sensor generates a 3D point cloud from the camera perspective.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
(no documentation available yet)
Do not check for objects possibly hiding each others (faster but less realistic behaviour)
This sensor exports these datafields at each simulation step:
Z-Buffer captured by the camera, converted in meters. memoryview of float of size (cam_width * cam_height * sizeof(float)) bytes.
The intrinsic calibration matrix, stored as a 3x3 row major Matrix.
List of 3D points from the depth camera. memoryview of a set of float(x,y,z). The data is of size (nb_points * 12) bytes (12=3*sizeof(float).
the number of points found in the points list. It must be inferior to cam_width * cam_height
Interface support:
Capture n images
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
The following example shows how to use this component in a Builder script:
from morse.builder import *
robot = ATRV()
# creates a new instance of the sensor
depthcamera = DepthCamera()
# place your component at the correct location
depthcamera.translate(<x>, <y>, <z>)
depthcamera.rotate(<rx>, <ry>, <rz>)
robot.append(%(var)s)
# define one or several communication interface, like 'socket'
depthcamera.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.sensors.depth_camera.)