accessing camera for RL

[JGittles]

Hi. I was trying to figure out how I can access the depth camera stream for some RL applications.

is there any documentation on how I can access this information? I noticed older iterations had a __dev.py folder with a list of features but the newest master doesn't seem to contain this.

Thanks!

[JacopoPan]

Hey @JGittles,

you can simply use class VisionAviary (look at its observation space)

gym-pybullet-drones/gym_pybullet_drones/envs/VisionAviary.py

Line 97 in 333ec90

def _observationSpace(self):

The obs returned by obs, reward, done, info = env.step(..), should include a Box(H,W) for floats, representing the depth information, under obs['drone_id']['dep']

Some of the options with which those frames are captured (frequency, resolution) are specified in BaseAviary

gym-pybullet-drones/gym_pybullet_drones/envs/BaseAviary.py

Line 153 in 333ec90

#### Create attributes for vision tasks ####################

[JGittles]

Awesome thanks! I'll give it a look.