def add_cameras(self, settings, cameras, camera_width, camera_height): # add a front facing camera print("Available Cameras are ", cameras) if CameraTypes.FRONT in cameras: camera = Camera(CameraTypes.FRONT.value) camera.set(FOV=100) camera.set_image_size(camera_width, camera_height) camera.set_position(2.0, 0, 1.4) camera.set_rotation(-15.0, 0, 0) settings.add_sensor(camera) # add a left facing camera if CameraTypes.LEFT in cameras: camera = Camera(CameraTypes.LEFT.value) camera.set(FOV=100) camera.set_image_size(camera_width, camera_height) camera.set_position(2.0, 0, 1.4) camera.set_rotation(-15.0, -30, 0) settings.add_sensor(camera) # add a right facing camera if CameraTypes.RIGHT in cameras: camera = Camera(CameraTypes.RIGHT.value) camera.set(FOV=100) camera.set_image_size(camera_width, camera_height) camera.set_position(2.0, 0, 1.4) camera.set_rotation(-15.0, 30, 0) settings.add_sensor(camera) # add a front facing depth camera if CameraTypes.DEPTH in cameras: camera = Camera(CameraTypes.DEPTH.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, 30, 0) camera.PostProcessing = 'Depth' settings.add_sensor(camera) # add a front facing semantic segmentation camera if CameraTypes.SEGMENTATION in cameras: camera = Camera(CameraTypes.SEGMENTATION.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, 30, 0) camera.PostProcessing = 'SemanticSegmentation' settings.add_sensor(camera) print("Successfully adding a SemanticSegmentation camera") return settings
def _add_cameras(self, settings, cameras, camera_width, camera_height): # add a front facing camera if CameraTypes.FRONT in cameras: camera = Camera(CameraTypes.FRONT.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, 0, 0) settings.add_sensor(camera) # add a left facing camera if CameraTypes.LEFT in cameras: camera = Camera(CameraTypes.LEFT.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, -30, 0) settings.add_sensor(camera) # add a right facing camera if CameraTypes.RIGHT in cameras: camera = Camera(CameraTypes.RIGHT.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, 30, 0) settings.add_sensor(camera) # add a front facing depth camera if CameraTypes.DEPTH in cameras: camera = Camera(CameraTypes.DEPTH.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, 30, 0) camera.PostProcessing = 'Depth' settings.add_sensor(camera) # add a front facing semantic segmentation camera if CameraTypes.SEGMENTATION in cameras: camera = Camera(CameraTypes.SEGMENTATION.value) camera.set_image_size(camera_width, camera_height) camera.set_position(0.2, 0, 1.3) camera.set_rotation(8, 30, 0) camera.PostProcessing = 'SemanticSegmentation' settings.add_sensor(camera) return settings