Source code for morse.sensors.depth_camera

import logging; logger = logging.getLogger("morse." + __name__)
from import async_service
from morse.core import status, mathutils
from import Camera
from morse.sensors.video_camera import VideoCamera
from morse.helpers.components import add_data, add_property

[docs]class AbstractDepthCamera(VideoCamera): add_property('near_clipping', 1.0, 'cam_near') add_property('far_clipping', 20.0, 'cam_far') add_property('retrieve_depth', True, 'retrieve_depth') def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. The second parameter should be the name of the object's parent. """ # Call the constructor of the VideoCamera class VideoCamera.__init__(self, obj, parent) # Component specific initialize (converters) self.pts = None self.initialize() # abstractmethod
[docs] def process_image(self, image): pass
# abstractmethod
[docs] def initialize(self): pass
[docs] def default_action(self): """ Update the texture image. """ # Grab an image from the texture if self.bge_object['capturing'] and (self._n != 0) : # Call the action of the Camera class Camera.default_action(self) self.process_image(self.image_data) self.capturing = True if self._n > 0: self._n -= 1 if self._n == 0: self.completed(status.SUCCESS) else: self.capturing = False
[docs]class DepthCamera(AbstractDepthCamera): """ This sensor generates a 3D point cloud from the camera perspective. See also :doc:`../sensors/camera` for generic informations about Morse cameras. """ _name = "Depth (XYZ) camera" _short_desc = "A camera capturing 3D points cloud" add_data('points', 'none', 'memoryview', "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).") add_data('nb_points', 0, 'int', "the number of points found in the " "points list. It must be inferior to cam_width * cam_height") add_property('_keep_list', None, 'keep_list', 'list(int)', "a list of lines number we preserve. Other lines are discared. It allows to " "better simulate sparse sensor such as velodyne. If not specified, keep the " "image dense") add_property('_keep_resolution', False, 'keep_resolution', 'boolean', "By default the clipping of the camera removes unreals points" "This option allows adding dummy points (0,0,0) for keeping the sensor resolution")
[docs] def initialize(self): from morse.sensors.zbufferto3d import ZBufferTo3D if self._keep_list is None: keep_list = list(range(self.image_height)) else: keep_list = eval(self._keep_list) # Store the camera parameters necessary for image processing self.converter = ZBufferTo3D(self.local_data['intrinsic_matrix'][0][0], self.local_data['intrinsic_matrix'][1][1], self.near_clipping, self.far_clipping, self.image_width, self.image_height, self._keep_resolution, keep_list)
[docs] def process_image(self, image): self.pts = self.converter.recover(image) self.local_data['points'] = self.pts self.local_data['nb_points'] = int(len(self.pts) / 12)
[docs]class DepthVideoCamera(AbstractDepthCamera): """ 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. """ _name = "Depth camera" add_data('image', 'none', 'buffer', "Z-Buffer captured by the camera, " "converted in meters. memoryview of float of size " "``(cam_width * cam_height * sizeof(float))`` bytes.")
[docs] def initialize(self): from morse.sensors.zbuffertodepth import ZBufferToDepth # Store the camera parameters necessary for image processing self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, self.image_width, self.image_height)
[docs] def process_image(self, image): # Convert the Z-Buffer self.local_data['image'] = self.converter.recover(image)
[docs]class RawImage(AbstractDepthCamera): """ This sensor gets raw Z-Buffer from the camera perspective. See also :doc:`../sensors/camera` for generic informations about Morse cameras. """ _name = "Depth camera (raw Z-Buffer)" add_data('image', 'none', 'buffer', "Raw Z-Buffer captured by the camera, " "not converted. bgl.Buffer of float of size " "``(cam_width * cam_height * sizeof(float))`` bytes.")
[docs] def process_image(self, image): """Same behaviour as VideoCamera Let the middleware deal with image processing. For example convert and publish in C++, without having to re-serialize a Python object. """ self.local_data['image'] = image
[docs]class DepthCameraRotationZ(DepthCamera): """Used for Velodyne sensor""" add_property('rotation', 0.01745, 'rotation')
[docs] def default_action(self): DepthCamera.default_action(self) self.applyRotationZ(self.rotation)
[docs] def applyRotationZ(self, rotation): # The second parameter specifies a "local" movement self.bge_object.applyRotation([0, rotation, 0], True)