get_camera_info
Signature:
BoosterRobot.get_camera_info(camera_id: str = "") -> CameraInfo
Description:
Get camera intrinsics and calibration information.
Parameters:
Parameter | Type | Default | Description |
|---|---|---|---|
|
|
| Camera ID; leave empty to use the default camera. For the available IDs, refer to the camera sensors returned by "list_sensors". |
Returns:
CameraInfo, see "Perception and State Data / CameraInfo"
Raises:
DataNotReadyError: No camera intrinsics were obtained within the timeout period.
Example:
from boosteros.robots.booster import BoosterRobot
robot = BoosterRobot()
info = robot.get_camera_info()
print(info.width, info.height)
# Example output: 320 240
print(info.k)
# Example output:
# [[216.48573063 0. 160. ]
# [ 0. 216.48573063 120. ]
# [ 0. 0. 1. ]]