def _set_rgb_props(rgb_cam: VisionSensor, rgb: bool, depth: bool,
conf: CameraConfig):
if not (rgb or depth):
rgb_cam.remove()
else:
rgb_cam.set_resolution(conf.image_size)
rgb_cam.set_render_mode(conf.render_mode)
def _set_mask_props(mask_cam: VisionSensor, mask: bool,
conf: CameraConfig):
if not mask:
mask_cam.remove()
else:
mask_cam.set_explicit_handling(1)
mask_cam.set_resolution(conf.image_size)
class RattlerCamera(object):
def __init__(self):
self._head_camera = VisionSensor('rattler_eye')
self._head_camera_mask = None
self._head_camera_state = 1
def get_camera_state(self) -> int:
return self._head_camera_state
def set_camera_state(self, state: int) -> None:
self._head_camera_state = state
def set_camera_properties(self, conf: CameraConfig) -> None:
if not (conf.rgb or conf.depth):
self._head_camera.remove()
else:
self._head_camera.set_resolution(conf.image_size)
self._head_camera.set_render_mode(conf.render_mode)
if conf.mask:
self._head_camera_mask = self._head_camera.copy()
self._head_camera_mask.set_render_mode(
RenderMode.OPENGL_COLOR_CODED)
def capture_rgb(self) -> np.ndarray:
return self._head_camera.capture_rgb()
def capture_depth(self) -> np.ndarray:
return self._head_camera.capture_depth()
def mask(self) -> VisionSensor:
return self._head_camera_mask
