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rapyuta-robotics / RapyutaSimulationPlugins

Apache License 2.0
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Support depth camera #225

Closed james-yoo closed 10 months ago

james-yoo commented 10 months ago

Hi rapyuta-robotics team, Currently, RapyutaSimulationPlugins only supports CameraComponent for RGB image. Any plan to support depth image?

yuokamoto commented 10 months ago

RapyutaSimulationPlugins has 3d lidar plugin. I'm not sure but can't we use 3d lidar plugin for deth camera as well?

james-yoo commented 10 months ago

@yuokamoto 3DLiDARComponent uses 'AsyncLineTraceByChannel' method to check collision between ray and object, it is not suitable for obtaining dense depth image like below: image

yuokamoto commented 10 months ago

I can create something by changing camera postprocess to SceneDepth. it is easy in bp but not sure how I can set same thing in C++, will investigate more alter

image

yuokamoto commented 10 months ago

https://github.com/rapyuta-robotics/RapyutaSimulationPlugins/pull/231