A camera capturing 3D points cloud
This sensor generates a 3D point cloud from the camera perspective.
See also Generic Camera for generic informations about Morse cameras.
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)
(no documentation available yet)
(no documentation available yet)
This sensor exports these datafields at each simulation step:
number of milliseconds in simulated time
The data captured by the camera, stored as a Python Buffer class object. The data is of size (cam_width * cam_height * 4) bytes. The image is stored as RGBA.
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:
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
Capture n images
Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Returns the properties of a component.
Return value
a dictionary of the current component’s properties
The following examples show 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(depthcamera)
# 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.)