Depth camera


A camera capturing RGBA image

This sensor generates a Depth ‘image’ from the camera perspective.

“Depth images are published as sensor_msgs/Image encoded as 32-bit float. Each pixel is a depth (along the camera Z axis) in meters.” [ROS Enhancement Proposal 118]( on Depth Images.

If you are looking for PointCloud data, you can use external tools like [depth_image_proc]( which will use the intrinsic_matrix and the image to generate it, or eventually the XYZCameraClass in this module.

Configuration parameters for Depth 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: 1.0)

    (no documentation available yet)

  • cam_far (default: 20.0)

    (no documentation available yet)

  • Vertical_Flip (default: True)

    (no documentation available yet)

  • retrieve_depth (default: True)

    (no documentation available yet)

  • retrieve_zbuffer (default: False)

    (no documentation available yet)

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of seconds in simulated time

  • 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.

Interface support:

Services for Depth camera

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • set_property(prop_name, prop_val) (blocking)

    Modify one property on a component

    • Parameters

      • prop_name: the name of the property to modify (as shown the documentation)
      • prop_val: the new value of the property. Note that there is no checking about the type of the value so be careful
    • Return value


  • capture(n) (non blocking)

    Capture n images

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

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations


The following examples show how to use this component in a Builder script:

from morse.builder import *

# adds a default robot (the MORSE mascott!)
robot = Morsy()

# creates a new instance of the sensor
depthvideocamera = DepthVideoCamera()

# place your component at the correct location
depthvideocamera.translate(<x>, <y>, <z>)
depthvideocamera.rotate(<rx>, <ry>, <rz>)


# define one or several communication interface, like 'socket'

env = Environment('empty')

Other sources of examples

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

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