[simspark-devel] Fwd: Sensors Camera on the Head - Get webcam like captures from what the robot sees

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

Hi Mojtaba,

Actually it has been implemented in 2008, but sorry for lack of
documentation.
You can enable ImagePerceptor in rsg/agent/nao/naoneckhead.rsg, this part:

(nd Transform
            (setLocalPos 0 $Head_Radius 0)
            (setLocalRotation 0 0 0)
            (nd ImagePerceptor
            (setInterval 3)
            (setOffScreen false)
            (setResolution 320 240)
            (setFOV 58)
            (setZNear 0.003)
            (setZFar 50)
            )
          )

The image is RGB format and encoded in Base64.

Here is a image from our paper in RoboCup 2013, enjoy world in colorful
pixels :)

http://sourceforge.net/p/simspark/svn/HEAD/tree/trunk/spark/doc/papers/2013/fig/simspark-spl.png


Best Regards,

Xu, Yuan


On Mon, Jan 13, 2014 at 1:51 PM, Mojtaba Hosseini <m.h...@ou...>wrote:

>  well, every one using the simulator, needs to process the captures taken
> from the camera, but there is no real camera on the head of the robot in
> the simultor. This is important because the solutions of image processing
> sometime depends on the robotic applications….
>
> this is been on the whishlist of the simspark plans from 2008! don’t you
> think that it’s time to get it done!
> using Microsoft WPF we can set as many as camera’s all around the world
> (even on a joint of the robot) and get the picture from what that camera
> sees. by telling this I want to mention that reaching to this goal is
> possible and somehow I think that is not that hard!
>
> the camera can be exactly like the one that renders the 3d world and shows
> us that, as we can change the position of the field main camera and rotate
> it’s direction, if the same camra was on the head of the robot and the
> direction and position of the camera could change by changing the
> kinematics of the head, then we could see what robot sees! am I wrong? if
> not, that wouldn’t be a hard task to do.
>
> Are you really planning to add a real camera to the robot (for example on
> the head) and let us get a render of the scene that robot sees? If yes,
> when will it get done? this feature would be very appreciated.
>
> Best Regards,
> Mojtaba Hosseini
>
>
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