How to add new camera to the scene?

[kefhuang]

Hello, I noticed that in the code comments, it mentions that an unlimited number of cameras can be used. However, I wasn't able to find any functions or APIs to add additional cameras beyond the default one.

Could you provide some guidance on how to add extra cameras to the environment?

[YoruCathy]

Check this

RCareWorld/pyrcareworld/pyrcareworld/demo/examples/example_camera.py

Line 35 in 72af472

camera = env.InstanceObject(name="Camera", id=123456, attr_type=attr.CameraAttr)

[kefhuang]

Hi, Thanks we have tried it out before. Here is our code

env = BathingEnv(graphics=True, assets=["Camera"])
new_cam = env.InstanceObject(name="Camera", id=123456, attr_type=attr.CameraAttr)
new_cam.SetTransform(position=[0, 1.7, 0], rotation=[90, 0, 0])

new_cam.GetRGB(512, 256)
env.step()
rgb = np.frombuffer(new_cam.data["rgb"], dtype=np.uint8)

The new_cam.data has nothing it. Is there anything wrong with our implementation?

[YoruCathy]

Try this

env = BathingEnv(graphics=True, assets=["Camera"])
new_cam = env.InstanceObject(name="Camera", id=123456, attr_type=attr.CameraAttr)
new_cam.SetTransform(position=[0, 1.7, 0], rotation=[90, 0, 0])

new_cam.GetRGB(512, 512)
env.step()
new_cam = np.frombuffer(camera.data["rgb"], dtype=np.uint8)
new_cam = cv2.imdecode(rgb, cv2.IMREAD_COLOR)
new_cam.imwrite("rgb.png", rgb)

[kefhuang]

not sure if this is you typo new_cam = np.frombuffer(camera.data["rgb"], dtype=np.uint8) but i changed it to rgb = np.frombuffer(new_cam.data["rgb"], dtype=np.uint8) and got the error

  File "/workspaces/ralla_care/scripts/test_bathing.py", line 148, in <module>
    rgb = np.frombuffer(new_cam.data["rgb"], dtype=np.uint8)
KeyError: 'rgb'

Also we looked into the new_cam.data it is empty.

Here is the code i run for your reference

env = BathingEnv(graphics=True, assets=["Camera"])
new_cam = env.InstanceObject(name="Camera", id=123456, attr_type=attr.CameraAttr)
new_cam.SetTransform(position=[0, 1.7, 0], rotation=[90, 0, 0])

new_cam.GetRGB(512, 512)
env.step()
rgb = np.frombuffer(new_cam.data["rgb"], dtype=np.uint8)
rgb = cv2.imdecode(rgb, cv2.IMREAD_COLOR)
cv2.imwrite("rgb.png", rgb)

[YoruCathy]

The code seems fine. We'll look into this on our end.
Actually, have you tried making a copy of the current camera? This is the API:

RCareWorld/pyrcareworld/pyrcareworld/attributes/base_attr.py

Line 197 in 76f0bb9

def Copy(self, new_id: int):

[kefhuang]

Oh Copy works.
Thanks. Appreciate it.

[thisjustin123]

Found out why this is happening, will push a fix soon! After the fix, your original code should work. @kefhuang

#170