Backup of Vision sensor(No. 3)

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Control method for vision sensor
- Environment scanning by vision sensor
Old Version

Control method for vision sensor †

※This tutorial is compatible with v2.1.0 or later. I will explain how to use the vision sensor.

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Environment scanning by vision sensor †

I will introduce the sample file for scanning the environment using the vision sensor.

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Creation of the controller †

$ cd ~/MyWorld
$ emacs WatchController.cpp

WatchController.cpp

This sample is used to rotate the body with an angle which is received as message. I will define the angle in z-axis direction, the angle that can be specified is between -180° and 180°.

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Compiling †

I will compile the cpp file

$ ./sigmake.sh  WatchController.cpp

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XML file for living room †

I will create a new world file.

$ emacs WatchWorld.xml

WatchWorld.xml

<?xml version="1.0" encoding="utf8"?>
<world name="myworld5">

<instanciate class="Robot-nii.xml">

<set-attr-value name="name" value="robot_000"/>

<set-attr-value name="language" value="c++"/>

<set-attr-value name="implementation"
                    value="./WatchController.so"/>

<set-attr-value name="dynamics" value="false"/>

<set-attr-value name="x" value="0.0"/>
    <set-attr-value name="y" value="54.0"/>
    <set-attr-value name="z" value="-40.0"/>

<camera id="1"
            link="HEAD_LINK"
            direction="0 -1 1"
            aspectRatio="1.5"
            fov="45"
            position="0.0 0.0 5.0"/>
  </instanciate>

<instanciate class="seTV.xml">
    <set-attr-value name="name" value="TV_0"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-20.0"/>
    <set-attr-value name="y" value="87.5"/>
    <set-attr-value name="z" value="-250.0"/>
    <set-attr-value name="visStateAttrName" value="switch"/>
    <set-attr-value name="switch" value="on"/>
  </instanciate>

</world>

This is a world file of living room with humanoid robot (Robot-nii.xml), it includes also television and armchair.

In this world file the camera is attached to the robot's head. The direction and the position of the camera set as follows:

You can attach the camera to a specific part of the robot by using link parameter. In this sample, "HEAD_LINK" is used. You can find all parts name of the humanoid robot in this page Joint定義一覧?. If you attach the camera to the entity that doesn't have part or joint, the link cannot be used.

カメラの位置はlinkを設定した場合はlinkの位置からの相対位置となります。

direction, position でカメラの方向ベクトル、位置を設定します。このサンプルではまっすぐ前を向いた方向から、下方向45°に目線があるということになります。

同様にaspectRatio, fov でカメラのアスペクト比、視野角(y方向)なども設定できます。

これらのパラメータを設定しなかった場合はデフォルト値が設定されます。