class DepthVideoCamera(AbstractDepthCamera):
"""
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.
"""
_name = "Depth camera"
add_data(
'image', 'none', 'buffer', "Z-Buffer captured by the camera, "
"converted in meters. memoryview of float of size "
"``(cam_width * cam_height * sizeof(float))`` bytes.")
def initialize(self):
from morse.sensors.zbuffertodepth import ZBufferToDepth
# Store the camera parameters necessary for image processing
self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, \
self.image_width, self.image_height)
def process_image(self, image):
# Convert the Z-Buffer
self.local_data['image'] = self.converter.recover(image)
class DepthVideoCamera(AbstractDepthCamera):
"""
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.
"""
_name = "Depth camera"
add_data('image', 'none', 'buffer', "Z-Buffer captured by the camera, "
"converted in meters. memoryview of float of size "
"``(cam_width * cam_height * sizeof(float))`` bytes.")
def initialize(self):
from morse.sensors.zbuffertodepth import ZBufferToDepth
# Store the camera parameters necessary for image processing
self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, \
self.image_width, self.image_height)
def process_image(self, image):
# Convert the Z-Buffer
self.local_data['image'] = self.converter.recover(image)
class DepthVideoCameraClass(VideoCameraClass):
"""
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.
"""
_name = "Depth camera"
add_data('image', 'none', 'buffer', "Z-Buffer captured by the camera, "
"converted in meters. memoryview of float of size "
"``(cam_width * cam_height * sizeof(float))`` bytes.")
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
# Call the constructor of the parent class
VideoCameraClass.__init__(self, obj, parent)
# Store the camera parameters necessary for image processing
self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, \
self.image_width, self.image_height)
def default_action(self):
""" Update the texture image. """
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0) :
# Call the action of the parent class
CameraClass.default_action(self)
image_data = morse.core.blenderapi.cameras()[self.name()].source
# Convert the Z-Buffer
self.local_data['image'] = self.converter.recover(image_data)
self.capturing = True
if (self._n > 0):
self._n -= 1
if (self._n == 0):
self.completed(status.SUCCESS)
else:
self.capturing = False
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
# Call the constructor of the parent class
VideoCameraClass.__init__(self, obj, parent)
# Store the camera parameters necessary for image processing
self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, \
self.image_width, self.image_height)
def initialize(self):
from morse.sensors.zbuffertodepth import ZBufferToDepth
# Store the camera parameters necessary for image processing
self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, \
self.image_width, self.image_height)
def initialize(self):
from morse.sensors.zbuffertodepth import ZBufferToDepth
# Store the camera parameters necessary for image processing
self.converter = ZBufferToDepth(self.near_clipping, self.far_clipping, \
self.image_width, self.image_height)
