Re: [simspark-devel] pixel camera perceptor

[Yuan X. <xuy...@gm...>]

Hi Joschka,

I think we may implement the 'pixel camera perceptors server' which
receives scene messages from simspark (just likes the external
monitor) and renders images for connected robots.
Then we can run a 'pixel camera perceptors server' in machines that runs robots.
In this case, the simulation runs in multi-machines.
What do you think about it?

2008/4/10, Joschka Boedecker <jos...@am...>:
> Hi all,
>
>  I've been thinking about how to implement a pixel camera perceptor for
>  Simspark using hardware-accelerated OpenGL Render to Texture via the
>  Frame Buffer Object extension (see, e.g. [1]). I'm not proposing we
>  should adopt this in the 3D league, but it will be handy for doing
>  research.
>
>  One problem I see is that this is a sensor, but it relies on rendering
>  also. In the multi-threading implementation, these two are seperated
>  as far as I remember, right? Maybe it is not a problem, since the
>  rendering only needs to produce the image, which can be copied in the
>  thread for the perceptors, but I'm not sure about this, so I thought
>  I'll ask for ideas here.
>
>  Another thing I've been wondering about is whether it would be worth
>  it to compress the images before sending it to the agent or not. Of
>  course this will depend on color depth and size of the image, as well
>  as network delay, but encoding (and decoding on the agent side) would
>  also take time. For small images and a fast local network without much
>  delay, it might be overkill I guess. Again, any ideas are welcome.
>
>  Cheers,
>  Joschka
>
>  [1] http://www.gamedev.net/reference/articles/article2331.asp
>
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-- 
Best wishes!

Xu Yuan
School of Automation
Southeast University, Nanjing, China

mail:   xuy...@gm...
          xy...@ya...
web:   http://xuyuan.cn.googlepages.com
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