Ray casting-based depth image renderer #81
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victorreijgwart
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victorreijgwart
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Discussed in #80
This PR adds functionality of depth map extraction from wavemap octree at any pose and camera intrinsics.
I also added python bindings for:
PinholeCameraProjectorConfig- I use it to store camera intrinsics on python sideraycast- allows to cast ray between 2 points and get distance to closest occupied leafget_depth- usesraycastfor all pixels in depth map (utilizesQueryAcceleratorfor faster processing)Moreover, I added corresponding python script to examples folder (I used
pathlibinstead ofos.pathbecause it is considered better practice in python).