concepts.simulator.pybullet.camera#

Functions

get_orthographic_heightmap(pcd_image, ...[, ...])

Get a top-down (z-axis) orthographic heightmap image from 3D pointcloud.

get_point_cloud(config, color, depth[, ...])

Reconstruct point clouds from the color and depth images.

get_point_cloud_image(config, depth)

Reconstruct point clouds from the depth image.

kabsch_transform(x, y[, verbose])

Find optimal rotation and translation to map vectors in x to y

lookat_rpy(camera_pos, target_pos[, roll])

Construct the roll, pitch, yaw angles of a camera looking at a target.

Classes

CLIPortCamera

CLIPort camera configuration.

CameraConfig

Mostly based on https://github.com/cliport/cliport/blob/e9cde74754606448d8a0495c1efea36c29b201f1/cliport/tasks/cameras.py

KinectFranka

Kinect Franka Camera

RS200Gazebo

Gazebo Camera

RealSenseD415

Default configuration with 3 RealSense RGB-D cameras.

SimpleCameraTransform

TopDownOracle

Top-down noiseless image used only by the oracle demonstrator.