Depth camera (raw Z-Buffer) =========================== .. image:: ../../../media/sensors/depth_camera.png :align: center :width: 600 **A camera capturing RGBA image** This sensor gets raw Z-Buffer from the camera perspective. See also :doc:`../sensors/camera` for generic informations about Morse cameras. .. cssclass:: properties morse-section Configuration parameters for Depth camera (raw Z-Buffer) -------------------------------------------------------- You can set these properties in your scripts with ``.properties(=..., =...)``. - ``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_fov`` (default: ``None``) (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) .. cssclass:: fields morse-section 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``) Raw Z-Buffer captured by the camera, not converted. bgl.Buffer of float of size ``(cam_width * cam_height * sizeof(float))`` bytes. - ``intrinsic_matrix`` (mat3, initial value: ``none``) The intrinsic calibration matrix, stored as a 3x3 row major Matrix. *Interface support:* (attention, no interface support!) .. cssclass:: services morse-section Services for Depth camera (raw Z-Buffer) ---------------------------------------- - ``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 - ``get_local_data()`` (blocking) Returns the current data stored in the sensor. - Return value a dictionary of the current sensor's data - ``get_properties()`` (blocking) Returns the properties of a component. - Return value a dictionary of the current component's properties - ``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 nothing .. cssclass:: examples morse-section Examples -------- The following examples show how to use this component in a *Builder* script: .. code-block:: python from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the sensor rawimage = RawImage() # place your component at the correct location rawimage.translate(, , ) rawimage.rotate(, , ) robot.append(rawimage) # define one or several communication interface, like 'socket' rawimage.add_interface() env = Environment('empty') .. cssclass:: files morse-section Other sources of examples +++++++++++++++++++++++++ - `Source code <../../_modules/morse/sensors/depth_camera.html>`_ - `Unit-test <../../_modules/base/depth_camera_testing.html>`_ *(This page has been auto-generated from MORSE module morse.sensors.depth_camera.)*