A camera capturing 3D points cloud
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](http://ros.org/reps/rep-0118.html) on Depth Images.
If you are looking for PointCloud data, you can use external tools like [depth_image_proc](http://ros.org/wiki/depth_image_proc) which will use the intrinsic_matrix and the image to generate it, or eventually the XYZCameraClass in this module.
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
(no documentation available yet)
(no documentation available yet)
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(no documentation available yet)
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Do not check for objects possibly hiding each others (faster but less realistic behaviour)
This sensor exports these datafields at each simulation step:
Z-Buffer captured by the camera, converted in meters. memoryview of float of size (cam_width * cam_height * sizeof(float)) bytes.
The intrinsic calibration matrix, stored as a 3x3 row major Matrix.
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).
the number of points found in the points list. It must be inferior to cam_width * cam_height
Interface support:
(attention, no interface support!)
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
Capture n images
The following example shows how to use this component in a Builder script:
from morse.builder import *
robot = ATRV()
# 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>)
robot.append(%(var)s)
# define one or several communication interface, like 'socket'
depthvideocamera.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.sensors.depth_camera.)