Add better support for camera

eager-dev / eager

[deprecated] Engine Agnostic Gym Environment for Robotics

https://eager-control.readthedocs.io/

Apache License 2.0

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Add better support for camera #90

Open AlexanderKeijzer opened 3 years ago

AlexanderKeijzer commented 3 years ago

We likely want to easily be able to set rendering resolution, rgb/grey etc.
We probably also want to standardize the encoding of camera messages.

bheijden commented 3 years ago

Can't we standardize the encoding of any message(read: ND-array) by vectorizing the message(read: ND-array) on the Physics bridge side. Then, based on the .yaml object description, the RosEnv knows exactly how to deserialize back to the original message(read: ND-array) as we know the shape and data type (uint8, float32, etc..).

Or am I missing what the problem is regarding message sending?

AlexanderKeijzer commented 3 years ago

What I meant here was the encoding of the image itself into the byte array. Webots gives the encoding type (rgba/greyscale/hsl) but this is not passed on atm. We probably need to make sure it is the same between engines and real.