from abc import abstractmethod
from typing import Optional, Tuple
import numpy as np
from internutopia.core.config import Simulator
from internutopia.core.util.pose_mixin import PoseMixin
[docs]class ICamera(PoseMixin):
def __init__(self):
super().__init__()
[docs] @abstractmethod
def get_rgba(self) -> np.ndarray:
"""
Returns:
rgba (np.ndarray): (N x 4) RGBa color data for each point.
"""
raise NotImplementedError()
[docs] @abstractmethod
def get_distance_to_image_plane(self) -> np.ndarray:
"""
Returns:
Outputs a depth map from objects to image plane of the camera. The distance_to_image_plane annotator produces a 2d array of types np.float32 with 1 channel.
"""
raise NotImplementedError()
[docs] @abstractmethod
def get_bounding_box_2d_tight(self) -> np.ndarray:
"""
Returns:
Outputs a 'tight' 2d bounding box of each entity with semantics in the camera's viewport. Tight bounding boxes bound only the visible pixels of entities. Completely occluded entities are omitted.
"""
raise NotImplementedError()
[docs] @abstractmethod
def get_camera_params(self) -> np.ndarray:
"""
Returns:
The Camera Parameters annotator returns the camera details for the camera corresponding to the render product to which the annotator is attached.
"""
raise NotImplementedError()
[docs] @abstractmethod
def cleanup(self) -> None:
"""
Operations that need to be cleaned up before switching scenes (or resetting)
"""
raise NotImplementedError()
[docs] @classmethod
def create(
cls,
simulator_type: str = Simulator.ISAACSIM.value,
name: str = 'camera',
prim_path: Optional[str] = None,
rgba: Optional[bool] = True,
distance_to_image_plane: Optional[bool] = False,
bounding_box_2d_tight: Optional[bool] = False,
camera_params: Optional[bool] = False,
resolution: Optional[Tuple[int, int]] = None,
position: Optional[Tuple[float, float, float]] = None,
translation: Optional[Tuple[float, float, float]] = None,
orientation: Optional[Tuple[float, float, float, float]] = None,
) -> 'ICamera':
"""Factory method to create ICamera instances based on simulator_type.
Args:
simulator_type (str): simulator type.
name (str): The unique identifier for the camera.
prim_path (Optional[str]): The primary path associated with the camera.
rgba (Optional[bool], default=False): Whether to get rgba from the camera or not.
distance_to_image_plane (Optional[bool], default=False): Whether to get distance_to_image_plane from the camera or not.
bounding_box_2d_tight (Optional[bool], default=False): Whether to get bounding_box_2d_tight from the camera or not.
camera_params (Optional[bool], default=False): Whether to get camera_params from the camera or not.
resolution (Optional[Tuple[int, int]], optional): resolution of the camera (width, height). Defaults to None.
position (Optional[Tuple[float, float, float]], optional): position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
translation (Optional[Tuple[float, float, float]], optional): translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Tuple[float, float, float, float]], optional): quaternion orientation in the world/ local frame of the prim (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
"""
if simulator_type == Simulator.ISAACSIM.value:
from internutopia.core.sensor.isaacsim.camera import IsaacsimCamera
return IsaacsimCamera(
name=name,
prim_path=prim_path,
rgba=rgba,
distance_to_image_plane=distance_to_image_plane,
bounding_box_2d_tight=bounding_box_2d_tight,
camera_params=camera_params,
resolution=resolution,
position=position,
translation=translation,
orientation=orientation,
)
else:
raise ValueError(f'Invalid simulator_type: {simulator_type}')
