def get_camera_data(self):
"""
Return a tuple containing (RGB_img, Depth_img)
"""
# Get color image from simulation
_, resolution, raw_image = vrep.simxGetVisionSensorImage(
self.sim_client, self.cam_handle, 0, vrep.simx_opmode_blocking)
color_img = np.asarray(raw_image)
color_img.shape = (resolution[1], resolution[0], 3)
color_img = color_img.astype(np.float) / 255
color_img[color_img < 0] += 1
color_img *= 255
color_img = np.fliplr(color_img)
color_img = color_img.astype(np.uint8)
# Get depth image from simulation
sim_ret, resolution, depth_buffer = vrep.simxGetVisionSensorDepthBuffer(
self.sim_client, self.cam_handle, vrep.simx_opmode_blocking)
depth_img = np.asarray(depth_buffer)
depth_img.shape = (resolution[1], resolution[0])
depth_img = np.fliplr(depth_img)
zNear = 0.01
zFar = 10
depth_img = depth_img * (zFar - zNear) + zNear
return color_img, depth_img
def get_VS_image(self, VS_handle):
# Get color image from simulation
sim_ret, resolution, raw_image = vrep.simxGetVisionSensorImage(
self.clientID, VS_handle, 0, vrep.simx_opmode_blocking)
if sim_ret == 0:
color_img = np.array(raw_image).reshape(
(resolution[1], resolution[0], 3)).astype(np.uint8)
else:
return 8, 0, 0
sim_ret, resolution, depth_buffer = vrep.simxGetVisionSensorDepthBuffer(
self.clientID, VS_handle, vrep.simx_opmode_blocking)
if sim_ret == 0:
depth_img = np.asarray(depth_buffer).reshape(
(resolution[1], resolution[0])).astype(np.double)
else:
return 8, 0, 0
zNear = 0.01
zFar = 10
depth_img = depth_img * (zFar - zNear) + zNear
return 0, color_img, depth_img