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NUbots / NUpbr

Physics Based Rendering (PBR) pipeline for generating realistic semi-synthetic data
MIT License
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Remove hard-coded torso to cam offset #6

Closed ysims closed 1 year ago

ysims commented 2 years ago

There is a todo in pbr.py about a hard coded transform. It looks like the position to place the camera (relative to the torso) is hard coded rather than using joint angles and such to properly find the right spot to place the camera.

jpptm commented 1 year ago

pr #8 aims to fix this. As of 15/02/2023, the hard-coded value has been removed and a new mesh with eye sockets and a base hip has been used instead. Cameras are now mounted on the left eye socket instead of inside the robot's head to prevent seeing through the neck of the observer robot.

jpptm commented 1 year ago

@ysims If #8 is confirmed to be working alright, can this issue be closed?