airobot.sensor.camera.camera

class airobot.sensor.camera.camera.Camera(cfgs)[source]

Bases: object

Base class for cameras.

Parameters:cfgs (YACS CfgNode) – configurations for the camera.
Variables:cfgs (YACS CfgNode) – configurations for the camera.
get_images(get_rgb=True, get_depth=True, **kwargs)[source]

Return rgb/depth images.

Parameters:
  • get_rgb (bool) – return rgb image if True, None otherwise.
  • get_depth (bool) – return depth image if True, None otherwise.
Returns:

2-element tuple containing

  • np.ndarray: rgb image.
  • np.ndarray: depth image.