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VREP_camera

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.

Example

vrep = VREP();
camera = vrep.camera('Vision_sensor');
im = camera.grab();
camera.setpose(T);
R = camera.getorient();

Methods

grab return an image from simulated camera
setangle set field of view
setresolution set image resolution
setclipping set clipping boundaries

Superclass methods (VREP_obj)

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.

Superclass methods (VREP_base)

setobjparam_bool set object boolean parameter
setobjparam_int set object integer parameter
setobjparam_float set object float parameter

Properties

n Number of joints

See also

VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo


VREP_camera.VREP_camera

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.

Options

'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

Notes

See also

VREP_obj


VREP_camera.getangle

Fet field of view for V-REP vision sensor

fov = C.getangle(fov) is the field-of-view angle to fov in radians.


VREP_camera.getclipping

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].


VREP_camera.getresolution

Get resolution for V-REP vision sensor

R = C.getresolution() is the image resolution (1x2) of the vision sensor R(1)xR(2).


VREP_camera.grab

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.

Options

'grey' Return a greyscale image (default color).

Notes

See also

idisp


VREP_camera.setangle

Set field of view for V-REP vision sensor

C.setangle(fov) set the field-of-view angle to fov in radians.


VREP_camera.setclipping

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.


VREP_camera.setresolution

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.