deploy: e956ddb

Author: kellyguo11

main/source/how-to/save_camera_output.html

@@ -853,7 +853,7 @@ <h2> Contents </h2>
 </span><span class="hll"><span class="linenos">252</span>            <span class="c1"># Derive pointcloud from camera at camera_index</span>
 </span><span class="hll"><span class="linenos">253</span>            <span class="n">pointcloud</span> <span class="o">=</span> <span class="n">create_pointcloud_from_depth</span><span class="p">(</span>
 </span><span class="hll"><span class="linenos">254</span>                <span class="n">intrinsic_matrix</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
-</span><span class="hll"><span class="linenos">255</span>                <span class="n">depth</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">camera_index</span><span class="p">][</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+</span><span class="hll"><span class="linenos">255</span>                <span class="n">depth</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">][</span><span class="n">camera_index</span><span class="p">],</span>
 </span><span class="hll"><span class="linenos">256</span>                <span class="n">position</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
 </span><span class="hll"><span class="linenos">257</span>                <span class="n">orientation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">quat_w_ros</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
 </span><span class="hll"><span class="linenos">258</span>                <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>
@@ -953,7 +953,7 @@ <h2>Projection into 3D Space<a class="headerlink" href="#projection-into-3d-spac
 <div class="highlight-python notranslate"><div class="highlight"><pre><span></span>            <span class="c1"># Derive pointcloud from camera at camera_index</span>
             <span class="n">pointcloud</span> <span class="o">=</span> <span class="n">create_pointcloud_from_depth</span><span class="p">(</span>
                 <span class="n">intrinsic_matrix</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">intrinsic_matrices</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
-                <span class="n">depth</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="n">camera_index</span><span class="p">][</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">],</span>
+                <span class="n">depth</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">output</span><span class="p">[</span><span class="s2">&quot;distance_to_image_plane&quot;</span><span class="p">][</span><span class="n">camera_index</span><span class="p">],</span>
                 <span class="n">position</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">pos_w</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
                 <span class="n">orientation</span><span class="o">=</span><span class="n">camera</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">quat_w_ros</span><span class="p">[</span><span class="n">camera_index</span><span class="p">],</span>
                 <span class="n">device</span><span class="o">=</span><span class="n">sim</span><span class="o">.</span><span class="n">device</span><span class="p">,</span>