Comments (1)
Hi, definitely - if you just want to get them from the robot's perspective as you run simulation using the Environment APIs, you can simply get the observation returned by env.step(), pick out the camera image, and save that as an image using PIL.Image APIs.
If you want to dive deeper and be able to manipulate the camera outside the typical robotics environment context (e.g. no robot, no physics, just photos with a particular purpose) you can take a look at this example:
iGibson/igibson/utils/derivative_dataset/pipeline.py
Lines 157 to 189 in 1f52c34
Essentially the simulator.renderer.render() function gives you the image as a numpy array. You can use PIL or cv2 to save that in your desired format.
For videos, you can either just save all your frames in a directory and run ffmpeg offline later to combine them into a video, or you can use cv2's VideoWriter to write a video on the fly. I'd recommend ffmpeg.
I'm closing this now but feel free to reopen if you have more questions.
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