curobo.types.camera module

class curobo.types.camera.CameraObservation(name: 'str' = 'camera_image', rgb_image: 'Optional[torch.Tensor]' = None, depth_image: 'Optional[torch.Tensor]' = None, image_segmentation: 'Optional[torch.Tensor]' = None, projection_matrix: 'Optional[torch.Tensor]' = None, projection_rays: 'Optional[torch.Tensor]' = None, resolution: 'Optional[List[int]]' = None, pose: 'Optional[Pose]' = None, intrinsics: 'Optional[torch.Tensor]' = None, timestamp: 'float' = 0.0)

Bases: object

Parameters:
  • name (str) –

  • rgb_image (Tensor | None) –

  • depth_image (Tensor | None) –

  • image_segmentation (Tensor | None) –

  • projection_matrix (Tensor | None) –

  • projection_rays (Tensor | None) –

  • resolution (List[int] | None) –

  • pose (Pose | None) –

  • intrinsics (Tensor | None) –

  • timestamp (float) –

name: str = 'camera_image'
rgb_image: Tensor | None = None

rgb image format is BxHxWxchannels

depth_image: Tensor | None = None
image_segmentation: Tensor | None = None
projection_matrix: Tensor | None = None
projection_rays: Tensor | None = None
resolution: List[int] | None = None
pose: Pose | None = None
intrinsics: Tensor | None = None
timestamp: float = 0.0
filter_depth(distance=0.01)
Parameters:

distance (float) –

property shape
copy_(new_data)
Parameters:

new_data (CameraObservation) –

clone()
to(device)
Parameters:

device (device) –

get_pointcloud()
get_image_from_pointcloud(pointcloud, output_image=None)
Parameters:

output_image (Tensor | None) –

update_projection_rays()