Adds option to change the clipping behavior for all Cameras and unifies the default #891
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Co-authored-by: Mayank Mittal <[email protected]> Signed-off-by: Pascal Roth <[email protected]>
…sim/IsaacLab into feature/cam-init-intrinsic-matrix
…sim/IsaacLab into feature/cam-init-intrinsic-matrix
pascal-roth
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Dhoeller19
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jsmith-bdai
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Aug 30, 2024
source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/camera_cfg.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/camera/tiled_camera_cfg.py
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source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera.py
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@Mayankm96 added test for all the other depth clipping formats, should be good to go now |
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@Mayankm96 quick ping, can we get that merged? |
Dhoeller19
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Nov 4, 2024
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Description
This PR adds an option to define the clipping behavior for depth images generated by
RayCasterCameraandCamera. In addition, it unifies the clipping behavior for the depth images of all camera implementations. Per default, all values exceeding the range are clipped to zero for bothdistance_to_image_planeanddistance_to_cameradepth images. Prev.RayCasterCameraclipped the values to the maximum value of the depth image,Cameradid not clip them and had a different behavior for both types, andTiledCameraclipped the values to zero.Needs PR #617 to be merged
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there