Camera¶

class myGym.envs.camera.Camera(env=None, position=[0, 0, 0], target_position=[0, 0, 0], up_vector=[0, 0, 1], up_axis_index=2, yaw=180, pitch=- 40, roll=0, distance=1.3, field_of_view=60, near_plane_distance=0.1, far_plane_distance=100.0, is_absolute_position=False)[source]¶

Camera class for rendering

Parameters:

param env: (CameraEnv) Environment in which camera is located
param position: (list) Eye position in Cartesian world coordinates
prarm target_position: (list) Position of the target point
param up_vector: (list) Up vector of the camera
param up_axis_index: (int) Either 1 for Y or 2 for Z axis up
param yaw: (float) Yaw angle in degrees left/right around up-axis
param pitch: (float) Pitch in degrees up/down
param roll: (float) Roll in degrees around forward vector
param distance: (float) Distance from eye to focus point
param field_of_view: (float) Field of view
param near_plane_distance: (float) Near plane distance
param far_plane_distance: (float) Far plane distance
param is_absolute_position: (bool) Compute view matrix using poistion or yaw,pitch,roll

set_parameters(position=None, target_position=None, yaw=None, pitch=None, roll=None, distance=None, field_of_view=None, near_plane_distance=None, far_plane_distance=None)[source]¶

Set camera position and captured image parameters

Parameters:

param position: (list) Eye position in Cartesian world coordinates
prarm target_position: (list) Position of the target point
param yaw: (float) Yaw angle in degrees left/right around up-axis
param pitch: (float) Pitch in degrees up/down
param roll: (float) Roll in degrees around forward vector
param distance: (float) Distance from eye to focus point
param field_of_view: (float) Field of view
param near_plane_distance: (float) Near plane distance
param far_plane_distance: (float) Far plane distance

recompute_matrixes()[source]¶: Compute view and projection matrixes needed for rendering

project_point_to_image(point)[source]¶

Project 3D point in Cartesian world coordinates to 2D point in pixel space

Parameters:

param point: (list) 3D point in Cartesian world coordinates

Returns:

return 2d_point: (list) 2D coordinates of point on image

get_opencv_camera_matrix_values()[source]¶

Get values of OpenCV matrix

Returns:

return values: (dict) fx, fy, cx, cy values

render()[source]¶

Get RGB image,depth image and segmentation mask from the camera

Returns:

return data: (dict) Image, depth, segmentation_mask