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update depth logic to 1.2
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Signed-off-by: garylvov <[email protected]>
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garylvov authored Sep 21, 2024
1 parent a35a979 commit 1b9c8d5
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Original file line number Diff line number Diff line change
Expand Up @@ -202,7 +202,7 @@ def grab_images(
"""
sensor: TiledCamera | Camera | RayCasterCamera = env.scene.sensors[sensor_cfg.name]
images = sensor.data.output[replicator]
if (replicator == "distance_to_camera" or replicator == "depth") and convert_perspective_to_orthogonal:
if (replicator == "distance_to_camera") and convert_perspective_to_orthogonal:
images = math_utils.convert_perspective_depth_to_orthogonal_depth(images, sensor.data.intrinsic_matrices)
return images

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