
Vision Plugin - Special Sensors
The vision plugin hosts, among others, functions to handle a range of special type of sensors:
simVision.createVelodyneHDL64E
Description
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Creates a handle for generating data similar to a Velodyne HDL64E. See also simVision.destroyVelodyneHDL64E and simVision.handleVelodyneHDL64E. |
Lua synopsis
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number handle=simVision.createVelodyneHDL64E(table_4 visionSensorHandles,number frequency,number options=0,number pointSize=2,table_2 coloring_closeFarDist={1,5},number displayScalingFactor=1,number pointCloudHandle=-1) |
Lua parameters |
rgbVisionSensorHandle: handle of a passive vision sensor, receiving the computed RGB image.
visionSensorHandles: the handles of 4 active vision sensors, looking to the front, left, rear and right.
frequency: the rotation frequency.
options: bit-coded options:
bit0 set (i.e. 1): do not display points
bit1 set( i.e. 2): display only current points.
bit2 set( i.e. 4): returned data is polar (otherwise cartesian).
bit3 set( i.e. 8): displayed points are emissive.
pointSize: the size of the displayed points, in pixels.
coloring_closeFarDist: the close and far distances, used to adjust intensity coloring.
displayScalingFactor: a scaling factor applied radially to each point. Can be used to bring points slightly closer to the sensor, to avoid points being hidden behind surfaces due to depth map resolution.
pointCloudHandle: the optional handle of a point cloud object (that will be in charge of displaying the detected points.
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Lua return values
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handle: -1 in case of an error. Otherwise the created Velodyne HDL64E handle. |
simVision.createVelodyneVPL16
Description
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Creates a handle for generating data similar to a Velodyne VPL16. See also simVision.destroyVelodyneVPL16 and simVision.handleVelodyneVPL16. |
Lua synopsis
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number handle=simVision.createVelodyneVPL16(table_4 visionSensorHandles,number frequency,number options=0,number pointSize=2,table_2 coloring_closeFarDist={1,5},number displayScalingFactor=1,number pointCloudHandle=-1) |
Lua parameters |
rgbVisionSensorHandle: handle of a passive vision sensor, receiving the computed RGB image.
visionSensorHandles: the handles of 4 active vision sensors, looking to the front, left, rear and right.
frequency: the rotation frequency.
options: bit-coded options:
bit0 set (i.e. 1): do not display points
bit1 set( i.e. 2): display only current points.
bit2 set( i.e. 4): returned data is polar (otherwise cartesian).
bit3 set( i.e. 8): displayed points are emissive.
pointSize: the size of the displayed points, in pixels.
coloring_closeFarDist: the close and far distances, used to adjust intensity coloring.
displayScalingFactor: a scaling factor applied radially to each point. Can be used to bring points slightly closer to the sensor, to avoid points being hidden behind surfaces due to depth map resolution.
pointCloudHandle: the optional handle of a point cloud object (that will be in charge of displaying the detected points.
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Lua return values
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handle: -1 in case of an error. Otherwise the created Velodyne VPL16 handle. |
simVision.destroyVelodyneHDL64E
Description
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Deletes a Velodyne HDL64E handle previously created with simVision.createVelodyneHDL64E. |
Lua synopsis
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number result=simVision.destroyVelodyneHDL64E(number velodyneHandle) |
Lua parameters |
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Lua return values
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result: -1 in case of an error. |
simVision.destroyVelodyneVPL16
Description
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Deletes a Velodyne VPL16 handle previously created with simVision.createVelodyneVPL16. |
Lua synopsis
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number result=simVision.destroyVelodyneVPL16(number velodyneHandle) |
Lua parameters |
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Lua return values
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result: -1 in case of an error. |
simVision.handleAnaglyphStereo
Description
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Allows to generate an anaglyph stereo image from two individual vision sensors (for the left and right eye). |
Lua synopsis
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number result=simVision.handleAnaglyphStereo(number rgbVisionSensorHandle,table_2 handlesOfTwoVisionSensors,table_6 leftAndRightColors=nil) |
Lua parameters |
rgbVisionSensorHandle: handle of a passive vision sensor, receiving the computed RGB image.
handlesOfTwoVisionSensors: the handles of two active vision sensors (for the left and right eye).
leftAndRightColors: the colors for the left and right eye rendering.
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Lua return values
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result: -1 in case of an error. |
simVision.handleSpherical
Description
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Allows to generate an RGB and/or depth image that covers all directions, i.e. spherical vision, based on the input of 6 individual vision sensors, each looking into a different and perpendicular direction. |
Lua synopsis
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number result=simVision.handleSpherical(number rgbVisionSensorHandle,table_6 handlesOfSixVisionSensors,number horizontalAngle,number verticalAngle,number depthVisionSensorHandle=-1) |
Lua parameters |
rgbVisionSensorHandle: handle of a passive vision sensor, receiving the computed RGB spherical image.
handlesOfSixVisionSensors: the handles of 6 mutually perpendicular, looking into a different direction active vision sensors.
horizontalAngle: the desired horizontal view angle, in radians (e.g. 2*math.pi).
horizontalAngle: the desired vertical view angle, in radians (e.g. math.pi).
depthVisionSensorHandle: handle of a passive vision sensor, receiving the computed depth image representation of the spherical depth map.
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Lua return values
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result: -1 in case of an error. |
simVision.handleVelodyneHDL64E
Description
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Handles a velodyne HDL64E sensor (i.e. generates and displays detection points. See also simVision.createVelodyneHDL64E. |
Lua synopsis
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table points=simVision.handleVelodyneHDL64E(number velodyneHandle,number dt) |
Lua parameters |
dt: the time duration since last call to this function. Typically the simulation time step.
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Lua return values
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points: a table containing the detected points, relative to the first vision sensor. |
simVision.handleVelodyneVPL16
Description
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Handles a velodyne VPL16 sensor (i.e. generates and displays detection points. See also simVision.createVelodyneVPL16. |
Lua synopsis
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table points=simVision.V(number velodyneHandle,number dt) |
Lua parameters |
dt: the time duration since last call to this function. Typically the simulation time step.
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Lua return values
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points: a table containing the detected points, relative to the first vision sensor. |
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