Camera#

rc.camera

BWSI Autonomous RACECAR Course Racecar Neo LTS

File Name: camera.py File Description: Defines the interface of the Camera module of the racecar_core library.

class camera.Camera#

Returns the color images and depth images captured by the camera.

get_color_image() → NDArray[480, 640, 3, UInt]#

Returns a deep copy of the current color image captured by the camera.

Returns:

An array representing the pixels in the image, organized as follows: 0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.

Note

Each color value ranges from 0 to 255.

This function returns a deep copy of the captured image. This means that we can modify the returned image and it will not change the image returned by future calls to get_color_image().

Example:

# Initialize image with a deep copy of the most recent color image captured
# by the camera
image = rc.camera.get_color_image()

# Store the amount of blue in the pixel on row 3, column 5
blue = image[3][5][0]

abstract get_color_image_async() → NDArray[480, 640, 3, UInt]#

Returns the current color image without the car in “go” mode.

Returns:

An array representing the pixels in the image, organized as follows: 0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.

Note

Each color value ranges from 0 to 255.

Warning

This function breaks the start-update paradigm and should only be used in Jupyter Notebook.

Example:

# Initialize image with the most recent color image captured by the camera
image = rc.camera.get_color_image_async()

# Store the amount of blue in the pixel on row 3, column 5
blue = image[3][5][0]

abstract get_color_image_no_copy() → NDArray[480, 640, 3, UInt]#

Returns a direct reference to the color image captured by the camera.

Returns:

An array representing the pixels in the image, organized as follows: 0th dimension: pixel rows, indexed from top to bottom. 1st dimension: pixel columns, indexed from left to right. 2nd dimension: pixel color channels, in the blue-green-red format.

Warning

Do not modify the returned image. The returned image is a reference to the captured image, so any changes will also affect the images returned by any future calls to get_color_image() or get_color_image_no_copy().

Note

Each color value ranges from 0 to 255.

Unlike get_color_image(), this function does not create a deep copy of the captured image, and is therefore more efficient.

Example:

# Initialize image with a direct reference to the recent color image
# captured by the camera
image = rc.camera.get_color_image_no_copy()

# Store the amount of blue in the pixel on row 3, column 5
blue = image[3][5][0]

# We can safely call crop because it does not modify the source image
cropped_image = rc_utils.crop(image, (0, 0), (10, 10))

# However, if we wish to draw on the image, we must first create a manual
# copy with copy.deepcopy()
image_copy = copy.deepcopy(image)
modified_image = rc_utils.draw_circle(image_copy, (50, 50))

abstract get_depth_image() → NDArray[480, 640, Float]#

Returns the current depth image captured by the camera.

Returns:: A two-dimensional array indexed from top left to the bottom right storing the distance of each pixel from the car in cm.

Example:

# Initialize image with the most recent depth image captured by the camera
image = rc.camera.get_depth_image()

# Store the distance of the object at pixel row 3, column 5
distance = image[3][5]

abstract get_depth_image_async() → NDArray[480, 640, Float]#

Returns the current depth image without the car in “go” mode.

Returns:: A two-dimensional array indexed from top left to the bottom right storing the distance of each pixel from the car in cm.

Warning

This function breaks the start-update paradigm and should only be used in Jupyter Notebook.

Example:

# Initialize image with the most recent depth image captured by the camera
image = rc.camera.get_depth_image_async()

# Store the distance of the object at pixel row 3, column 5
distance = image[3][5]

get_height() → int#

Returns the pixel height of the color and depth images.

Returns:: The height (number of pixel rows) in the color and depth images.

Example:

image = rc.camera.get_color_image()

# Access the top bottom left pixel of the image
bottom_left_pixel = image[rc.camera.get_height() - 1][0]

get_max_range() → float#

Returns the maximum distance in cm which can be detected by the depth camera.

Returns:: The maximum range of the depth camera.

Example:

depth_image = rc.camera.get_depth_image()
center_distance = rc_utils.get_depth_image_center_distance(depth_image)

# If center_distance is 0.0 (no data), set it to max_range
if center_distance == 0.0:
    center_distance = rc.camera.get_max_range()

get_width() → int#

Returns the pixel width of the color and depth images.

Returns:: The width (number of pixel columns) in the color and depth images.

Example:

image = rc.camera.get_color_image()

# Access the top right pixel of the image
top_right_pixel = image[0][rc.camera.get_width() - 1]