Depth (XYZ) camera


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.

Configuration parameters for Depth (XYZ) 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)

    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.

  • intrinsic_matrix (mat3<float>, initial value: none)

    The intrinsic calibration matrix, stored as a 3x3 row major Matrix.

  • 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 (XYZ) camera

  • 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

  • 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


  • get_properties() (blocking)

    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 *

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

# 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>)


# 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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