Depth (XYZ) camera

../../_images/depth_camera.png

A camera capturing 3D points cloud

This sensor generates a 3D point cloud from the camera perspective.

Configuration parameters for depth (xyz) camera

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • cam_width (default: 256)

    (no documentation available yet)

  • cam_height (default: 256)

    (no documentation available yet)

  • cam_focal (default: 25.0)

    (no documentation available yet)

  • cam_near (default: 0.1)

    (no documentation available yet)

  • cam_far (default: 100.0)

    (no documentation available yet)

  • Vertical_Flip (default: False)

    (no documentation available yet)

  • noocclusion (bool, default: False)

    Do not check for objects possibly hiding each others (faster but less realistic behaviour)

Data fields

This sensor exports these datafields at each simulation step:

  • image (buffer, initial value: none)

    Z-Buffer captured by the camera, converted in meters. memoryview of float of size (cam_width * cam_height * sizeof(float)) bytes.

  • intrinsic_matrix (mat3<float>, initial value: none)

    The intrinsic calibration matrix, stored as a 3x3 row major Matrix.

  • points (memoryview, initial value: none)

    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).

  • nb_points (int, initial value: 0)

    the number of points found in the points list. It must be inferior to cam_width * cam_height

Interface support:

Services for Depth (XYZ) camera

  • capture(n) (non blocking)

    Capture n images

    • Parameters
      • n: the number of images to take. A negative number means take image indefinitely
  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

Examples

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')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.depth_camera.)

Table Of Contents

Previous topic

Compound Sensor

Next topic

GPS

This Page