Depth Camera Aggregator Unit

Configuration parameters for Depth Camera Aggregator Unit

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

  • master_camera (string, default: "")
    the name of master camera : all the points will be expressed in the frame of this camera

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)
    number of seconds in simulated time
  • 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 Camera Aggregator Unit

  • capture(n) (non blocking)

    The service takes an integer an argument and dispatch the call to all its individual cameras. The service ends when each camera has terminated its work.

    • Parameters
      • n: the number of call to each individual camera
  • 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


Other sources of examples

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