Camera Module¶
-
class
camera.
Camera
¶ Returns the color images and depth images captured by the camera.
-
get_color_image
()¶ Returns a deep copy of the current color image captured by the camera.
- Return type
NDArray
[(480, 640, 3),uint8
]- Returns
- An array representing the pixels in the image, organized as follows
0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.
Note
Each color value ranges from 0 to 255.
This function returns a deep copy of the captured image. This means that we can modify the returned image and it will not change the image returned by future calls to get_color_image().
Example:
# Initialize image with a deep copy of the most recent color image captured # by the camera image = rc.camera.get_color_image() # Store the amount of blue in the pixel on row 3, column 5 blue = image[3][5][0]
-
abstract
get_color_image_async
()¶ Returns the current color image without the car in “go” mode.
- Return type
NDArray
[(480, 640, 3),uint8
]- Returns
- An array representing the pixels in the image, organized as follows
0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.
Note
Each color value ranges from 0 to 255.
Warning
This function breaks the start-update paradigm and should only be used in Jupyter Notebook.
Example:
# Initialize image with the most recent color image captured by the camera image = rc.camera.get_color_image_async() # Store the amount of blue in the pixel on row 3, column 5 blue = image[3][5][0]
-
abstract
get_color_image_no_copy
()¶ Returns a direct reference to the color image captured by the camera.
- Return type
NDArray
[(480, 640, 3),uint8
]- Returns
- An array representing the pixels in the image, organized as follows
0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.
Warning
Do not modify the returned image. The returned image is a reference to the captured image, so any changes will also affect the images returned by any future calls to get_color_image() or get_color_image_no_copy().
Note
Each color value ranges from 0 to 255.
Unlike get_color_image(), this function does not create a deep copy of the captured image, and is therefore more efficient.
Example:
# Initialize image with a direct reference to the recent color image # captured by the camera image = rc.camera.get_color_image() # Store the amount of blue in the pixel on row 3, column 5 blue = image[3][5][0] # We can safely call crop because it does not modify the source image cropped_image = rc_utils.crop(image, (0, 0), (10, 10)) # However, if we wish to draw on the image, we must first create a manual # copy with copy.deepcopy() image_copy = copy.deepcopy(image) modified_image = rc_utils.draw_circle(image_copy, (50, 50))
-
abstract
get_depth_image
()¶ Returns the current depth image captured by the camera.
- Return type
NDArray
[(480, 640),float32
]- Returns
A two dimensional array indexed from top left to the bottom right storing the distance of each pixel from the car in cm.
Example:
# Initialize image with the most recent depth image captured by the camera image = rc.camera.get_depth_image() # Store the distance of the object at pixel row 3, column 5 distance = image[3][5]
-
abstract
get_depth_image_async
()¶ Returns the current depth image without the car in “go” mode.
- Return type
NDArray
[(480, 640),float32
]- Returns
A two dimensional array indexed from top left to the bottom right storing the distance of each pixel from the car in cm.
Warning
This function breaks the start-update paradigm and should only be used in Jupyter Notebook.
Example:
# Initialize image with the most recent depth image captured by the camera image = rc.camera.get_depth_image_async() # Store the distance of the object at pixel row 3, column 5 distance = image[3][5]
-
get_height
()¶ Returns the pixel height of the color and depth images.
- Return type
int
- Returns
The height (number of pixel rows) in the color and depth images.
Example:
image = rc.camera.get_color_image() # Access the top bottom left pixel of the image bottom_left_pixel = image[rc.camera.get_height() - 1][0]
-
get_max_range
()¶ Returns the maximum distance in cm which can be detected by the depth camera.
- Return type
float
- Returns
The maximum range of the depth camera.
Example:
depth_image = rc.camera.get_depth_image() center_distance = rc_utils.get_depth_image_center_distance(depth_image) # If center_distance is 0.0 (no data), set it to max_range if center_distance == 0.0: center_distance = rc.camera.get_max_range()
-
get_width
()¶ Returns the pixel width of the color and depth images.
- Return type
int
- Returns
The width (number of pixel columns) in the color and depth images.
Example:
image = rc.camera.get_color_image() # Access the top right pixel of the image top_right_pixel = image[0][rc.camera.get_width() - 1]
-