curobo.types.camera module

class 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: 'Optional[torch.Tensor]' = None,

)

Bases: object

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: Tensor | None = None

filter_depth(

distance: float = 0.01,

)

property shape

copy_(

new_data: CameraObservation,

)

clone()

to(

device: device,

)

get_pointcloud(

project_to_pose: bool = False,

)

get_image_from_pointcloud(

pointcloud,

output_image: Tensor | None = None,

)

update_projection_rays()

stack(

new_observation: CameraObservation,

dim: int = 0,

)