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VREP_camera

Mirror of V-REP vision sensor object

Mirror objects are MATLAB objects that reflect the state of 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 get position of object
setpos set position of object
getorient get orientation of object
setorient set orientation of object
getpose get pose of object
setpose set pose of object

can be used to set/get the pose of the robot base.

Superclass methods (VREP_mirror)

getname get object name
setparam_bool set object boolean parameter
setparam_int set object integer parameter
setparam_float set object float parameter
getparam_bool get object boolean parameter
getparam_int get object integer parameter
getparam_float get object float parameter

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 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.char

Convert to string

V.char() is a string representation the VREP parameters in human readable foramt.

See also

VREP.display


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.

See also

VREP_camera.setangle


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].

See also

VREP_camera.setclipping


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).

See also

VREP_camera.setresolution


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.simstart


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.

See also

VREP_camera.getangle


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.

See also

VREP_camera.getclipping


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.

Notes

See also

VREP_camera.getresolution


 

© 1990-2014 Peter Corke.