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
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/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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# Description In #891, the `depth_clipping_behavior` parameter was added with the default mode set to `"zero"`. This introduced a breaking behavior in the depth cameras as previously, values returned by the cameras were not clipped. This PR sets the default behavior to `"none"`, which should bring us back to the original camera behavior. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task -->
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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
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there