Vision sensor

In V-REP it is possible to simulate a vision sensor. Vision sensors are added to the scene with [menu bar --> Add --> Vision sensor]. After a double-click on a vision-sensor, we can set some parameters like the resolution and the field of view of the camera. In addition we added a GUI to set the frequency of acquisition and the type of color coding (RGB or grayscale) that should be used.

NB: Start and stop the simulation two times after you change the parameters in the GUI.

The handler will publish a stream of images in low-bandwidth compressed formats using image_transport. In addition a topic called '/vrep/camera_info' will be created. It contains the intrinsic camera parameters.

Publishers

Let's suppose we have a vision sensor in V-REP called "Vision_sensor_0". The plugin will create the following topics:

•  /vrep/Vision_sensor_0
   /vrep/Vision_sensor_0/Camerainfo
   /vrep/Vision_sensor_0/compressed
   /vrep/Vision_sensor_0/compressed/parameter_descriptions
   /vrep/Vision_sensor_0/compressed/parameter_updates
   /vrep/Vision_sensor_0/compressedDepth
   /vrep/Vision_sensor_0/compressedDepth/parameter_descriptions
   /vrep/Vision_sensor_0/compressedDepth/parameter_updates
   /vrep/Vision_sensor_0/theora
   /vrep/Vision_sensor_0/theora/parameter_descriptions
   /vrep/Vision_sensor_0/theora/parameter_updates