How to obtain depth image in Isaac Gym?


Is it possible to get depth images of a scene in Isaac Gym such as depth image of an object on the table? If yes, which functions are used to do so, and whether there is an example regarding that? Thanks!

Hi @tran.nguyenle ,

You can find examples of the graphics APIs being used to get a depth image in the example:

            # Retrieve image data directly. Use this for Depth, Segmentation, and Optical Flow images
            # Here we retrieve a depth image, normalize it to be visible in an
            # output image and then write it to disk using Pillow
            depth_image = gym.get_camera_image(sim, envs[i], camera_handles[i][j], gymapi.IMAGE_DEPTH)

Take care,

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Thanks alot!