Camera#

class blueprints.Camera[source]#

Bases: CameraType, CyclicalThing, MoveableThing

This class is available through the shortcut blueprints.Camera.

Most attribute descriptions are partially taken from Mujoco.

fieldofview#

The angle of field of view in radians.

Type:

int | float, optional

ipd#

Inter-pupilary distance. This attribute only has an effect during stereoscopic rendering. It specifies the distance between the left and right viewpoints. Each viewpoint is shifted by +/- half of the distance specified here, along the X axis of the camera frame.

Type:

float

target#

The target attribute specifies a Body that is tracked by the camera. Compatible mode values are (‘targetbody’, ‘targetbodycom’).

Type:

blue.Body | None

mode#
The possible values are:

  • 'fixed': Position and orientation will change w.r.t. the parents frame of reference.

  • 'track': Position is at a constant offset from the parent in world coordinates, while the camera orientation is constant in world coordinates.

  • 'trackcom': is similar to 'track' but the constant spatial offset is defined relative to the center of mass of the kinematic subtree starting at the parent Body. This can be used to keep an entire mechanism in view. Note that the subtree center of mass for the World is the center of mass of the entire model.

  • 'targetbody': the Camera position is fixed in the parent Body, while the Camera orientation is adjusted so that it always points towards the targeted Body (which is specified with the target attribute)

  • 'targetbodycom': is the same as 'targetbody' but the Camera is oriented towards the center of mass of the subtree starting at the target Cody.

Type:

str

Attributes Summary

fieldofview

Vertical field-of-view of the camera.

fovy

Vertical field-of-view of the camera.

fps

Frames per second

frameinterval

The delay between each rendering in seconds

ipd

This attribute only has an effect during stereoscopic rendering.

observation

The Camera observation is retrieved as the image rendered by the mujoco Renderer using OpenGL.

resolution

The resolution is used for observation rendering and recording.

target

The target attribute specifies a Body that is tracked by the camera.

Attributes Documentation

fieldofview#

Vertical field-of-view of the camera.

Returns:

Field of view

Return type:

float

fovy#

Vertical field-of-view of the camera.

Returns:

field of view in degrees

Return type:

float

fps#

Frames per second

Return type:

float

frameinterval#

The delay between each rendering in seconds

Return type:

float

ipd#

This attribute only has an effect during stereoscopic rendering. It specifies the distance between the left and right viewpoints. Each viewpoint is shifted by \(\pm\) half of the distance specified here, along the \(X\) axis of the camera frame.

Returns:

Inter-pupilary distance

Return type:

float

observation#

The Camera observation is retrieved as the image rendered by the mujoco Renderer using OpenGL.

Returns:

RGB image using the specified camera settings.

Return type:

np.ndarray

resolution#

The resolution is used for observation rendering and recording. Rendering in World.view uses OpenGL defaults.

Returns:

The resolution of the camera.

Return type:

np.ndarray

target#

The target attribute specifies a Body that is tracked by the camera. Compatible mode values are (‘targetbody’, ‘targetbodycom’).

Return type:

blue.BodyType | None

__init__(pos=[0.0, 0.0, 0.0], alpha=1.5707963267948966, beta=0.0, gamma=0.0, mode='fixed', resolution=[480, 480], fieldofview=0.7853981633974483, ipd=0.068, fps=30, name=None, x=None, y=None, z=None, quat=None, **kwargs)[source]#
Parameters:

  • pos (np.ndarray | list[int | float], optional) – Represents the position of the object. Changing this attribute also changes the properties x, y and z.

  • alpha (int | float, optional) – (Improper) euler angle of rotation around the x-axis in radian. Changing this value also changes the euler property.

  • beta (int | float, optional) – (Improper) euler angle of rotation around the y-axis in radian. Changing this value also changes the euler property.

  • gamma (int | float, optional) – (Improper) euler angle of rotation around the z-axis in radian. Changing this value also changes the euler property.

  • mode (str, optional) – The mode defines who the position and orientation is changed over time. See mode for a detailed description.

  • fieldofview (int | float, optional) – The angle of field of view in radians.

  • ipd (int | float, optional) – Inter-pupilary distance. This attribute only has an effect during stereoscopic rendering. It specifies the distance between the left and right viewpoints. Each viewpoint is shifted by +/- half of the distance specified here, along the X axis of the camera frame.

  • name (str | None, optional) – The user specified name of the Camera. It might change in the case of a naming conflict.

  • x (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the X position coordinate.

  • y (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Y position coordinate.

  • z (int | float |np.int32 | np.int64 | np.float32 | np.float64 | None, optional) – If pos is not specified, this argument sets the Z position coordinate.

  • quat (list [ int | float ] | np.ndarray | None, optional) – If set, the quaternion orientation overwrites the euler angles alpha, beta and gamma.

  • **kwargs – Keyword arguments are passed to super().__init__.

  • resolution (ndarray | list[int])

  • fps (int | float | None)

Return type:

None

classmethod __new__(*args, **kwargs)#