fix(camera env): missing depth data when depth enabled

juelg · juelg · commit fe986adc1eb0 · 2024-10-02T12:46:53.000+02:00
diff --git a/python/rcsss/envs/base.py b/python/rcsss/envs/base.py
@@ -457,11 +457,11 @@ def check_depth(depth):
             camera_name: (
                 {
                     self.RGB_KEY: frame.camera.color.data,
+                    self.DEPTH_KEY: frame.camera.depth.data,  # type: ignore
                 }
                 if check_depth(frame.camera.depth)
                 else {
                     self.RGB_KEY: frame.camera.color.data,
-                    self.DEPTH_KEY: frame.camera.depth.data,  # type: ignore
                 }
             )
             for camera_name, frame in frameset.frames.items()

Original file line number	Diff line number	Diff line change
`@@ -457,11 +457,11 @@ def check_depth(depth):`
`457`	`457`	`camera_name: (`
`458`	`458`	`{`
`459`	`459`	`self.RGB_KEY: frame.camera.color.data,`
	`460`	`+ self.DEPTH_KEY: frame.camera.depth.data, # type: ignore`
`460`	`461`	`}`
`461`	`462`	`if check_depth(frame.camera.depth)`
`462`	`463`	`else {`
`463`	`464`	`self.RGB_KEY: frame.camera.color.data,`
`464`		`- self.DEPTH_KEY: frame.camera.depth.data, # type: ignore`
`465`	`465`	`}`
`466`	`466`	`)`
`467`	`467`	`for camera_name, frame in frameset.frames.items()`