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V-REP mirror of vision sensor object
Mirror objects are MATLAB objects that reflect objects in the V-REP environment. Methods allow the V-REP state to be examined or changed.
This is a concrete class, derived from VREP_mirror, for all V-REP vision sensor objects and allows access to images and image parameters.
Methods throw exception if an error occurs.
vrep = VREP(); camera = vrep.camera('Vision_sensor'); im = camera.grab(); camera.setpose(T); R = camera.getorient();
grab | return an image from simulated camera |
setangle | set field of view |
setresolution | set image resolution |
setclipping | set clipping boundaries |
getpos | return position of object given handle |
setpos | set position of object given handle |
getorient | return orientation of object given handle |
setorient | set orientation of object given handle |
getpose | return pose of object given handle |
setpose | set pose of object given handle |
can be used to set/get the pose of the robot base.
setobjparam_bool | set object boolean parameter |
setobjparam_int | set object integer parameter |
setobjparam_float | set object float parameter |
n | Number of joints |
VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo
Create a camera mirror object
C = VREP_camera(name, options) is a mirror object that corresponds to the a vision senor named name in the V-REP environment.
'fov', A | Specify field of view in degreees (default 60) |
'resolution', N | Specify resolution. If scalar NxN else N(1)xN(2) |
'clipping', Z | Specify near Z(1) and far Z(2) clipping boundaries |
Fet field of view for V-REP vision sensor
fov = C.getangle(fov) is the field-of-view angle to fov in radians.
Get clipping boundaries for V-REP vision sensor
C.getclipping() is the near and far clipping boundaries (1x2) in the Z-direction as a 2-vector [NEAR,FAR].
Get resolution for V-REP vision sensor
R = C.getresolution() is the image resolution (1x2) of the vision sensor R(1)xR(2).
Get image from V-REP vision sensor
im = C.grab(options) is an image (WxH) returned from the V-REP vision sensor.
C.grab(options) as above but the image is displayed using idisp.
'grey' | Return a greyscale image (default color). |
Set field of view for V-REP vision sensor
C.setangle(fov) set the field-of-view angle to fov in radians.
Set clipping boundaries for V-REP vision sensor
C.setclipping(near, far) set clipping boundaries to the range of Z from near to far. Objects outside this range will not be rendered.
Set resolution for V-REP vision sensor
C.setresolution(R) set image resolution to RxR if R is a scalar or R(1)xR(2) if it is a 2-vector.
© 1990-2014 Peter Corke.