How to use RGBD Images as input?

[mphamhung]

I've set render_mode to full-render as in:
#9 (comment)

But I'm not sure how to get and use the RGBD data during the robot's "sense" step.

[ajdroid]

@mphamhung a patch is coming with some instructions on how to do this in SocNavBench, but it is fairly slow to use the rgbd image in the sensing loop. If you really need to use RGBD, one place to look is SEAN which is a Unity based simulator we have recently been working with to update with the SocNavBench pedestrian replay method and scenes.