Add depth map support for camera sensor

[clementinboittiaux]

Proposed change(s)

Add depth map support for camera sensor. Also add OpenEXR support for frame encoding.

Useful links (Github issues, JIRA tickets, ML-Agents forum threads etc.)

Types of change(s)

• [ ] Bug fix
• [x] New feature
• [ ] Code refactor
• [ ] Breaking change
• [ ] Documentation update
• [ ] Other (please describe)

Checklist

• [ ] Added tests that prove my fix is effective or that my feature works
• [ ] Updated the changelog (if applicable)
• [x] Updated the documentation (if applicable)
• [ ] Updated the migration guide (if applicable)

Other comments

RGBD option has priority over Grayscale option. Compatibility should not be broken with previous versions.

The depth component is stored in the image alpha channel. Float RenderTexture and Texture32, as well as OpenEXR encoding ensure that depth is not compressed to 8-bits.

N.B. Adding compression flags to EXR encoding slows down the read/write rate.

Screencast from 27-06-2024 09:43:00.webm

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