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Vision Plugin - Simple Image Processing
The vision plugin hosts, among others, simple image processing functions, that are mainly used for backward compatibility reasons. Other, more powerful image processing functions can be found in the OpenCV plugin.
Color values are specified in RGB, with each component in [0;1].
simVision.addBuffer1ToWorkImg
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Description
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Performs a pixel wise addition between the work image and buffer buffer1, and stores the result in the work image. See also simVision.addWorkImgToBuffer1 and simVision.subtractBuffer1FromWorkImg. |
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Lua synopsis
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simVision.addBuffer1ToWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.addWorkImgToBuffer1
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Description
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Performs a pixel wise addition between the work image and buffer buffer1, and stores the result in buffer buffer1. See also simVision.addBuffer1ToWorkImg and simVision.subtractWorkImgFromBuffer1. |
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Lua synopsis
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simVision.addWorkImgToBuffer1(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.binaryWorkImg
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Description
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Transforms the work image into a binary image, with optional triggering. |
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Lua synopsis
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number trigger,string packedPacket=simVision.binaryWorkImg(number handle,number threshold,number oneProportion,number oneTol,number xCenter,number xCenterTol,number yCenter,number yCenterTol,number orient,number orientTol,number roundness,bool enableTrigger,table_3 overlayColor={1.0,0.0,1.0})) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
threshold: the threshold for binary 0 or binary 1.
oneProportion: the nominal binary 1 pixels relative amount (0-1), for triggering.
oneTol: the allowed tolerance for oneProportion.
xCenter: the nominal x center of binary 1 pixels (0-1), for triggering.
xCenterTol: the allowed tolerance for xCenter.
yCenter: the nominal y center of binary 1 pixels (0-1), for triggering.
yCenterTol: the allowed tolerance for yCenter.
orient: the nominal orientation, in radians, of the bounding box around binary 1 pixels (0-1), for triggering.
orientTol: the allowed tolerance for orient.
roundness: the nominal roundness value of the bounding box around binary 1 pixels (0-1), for triggering.
enableTrigger: if true and the triggering conditions are met, then return value trigger will be true.
overlayColor: an overlay color used to visualize triggering conditions. Set to nil for no overlay.
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Lua return values
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trigger: true if the filter has triggered.
a) the binary image proportion value
b) the binary image posX value
c) the binary image posY value
d) the binary image angle value
e) the binary image roundness value
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simVision.blobDetectionOnWorkImg
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Description
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Performs blob detection on the work image. |
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Lua synopsis
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number trigger,string packedPacket=simVision.blobDetectionOnWorkImg(number handle,number threshold,number minBlobSize,bool diffColor,table_3 overlayColor={1.0,0.0,1.0})) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
threshold: the intensity threshold for a pixel to be considered on.
minBlobSize: the minimum size of a blob (in relation to the total image surface).
diffColor: if true then each blob will be represented in a different color.
overlayColor: an overlay color used to visualize the blobs. Set to nil for no overlay.
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Lua return values
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trigger: always false. Not used.
a) the number of detected blobs
b) the number of values returned for each blob
then for each blob:
c.1) the blob relative size
c.2) the blob orientation
c.3) the blob relative position X
c.4) the blob relative position Y
c.5) the blob bounding box relative width
c.6) the blob bounding box relative height
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simVision.buffer1ToWorkImg
simVision.buffer2ToWorkImg
simVision.changedPixelsOnWorkImg
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Description
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Returns the pixels that changed the work image, from one frame to the next. |
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Lua synopsis
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number trigger,string packedPacket=simVision.changedPixelsOnWorkImg(number handle,number threshold) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
threshold: the minimum intensity variation for a pixel to have changed.
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Lua return values
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trigger: always false. Not used.
packedPacket: a packed packet (use sim.unpackFloatTable to unpack) containing for each changed pixel:
a.1) 1 if the pixel became brighter, -1 otherwise
a.2) the x coordinate of the pixel
a.3) the y coordinate of the pixel
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simVision.circularCutWorkImg
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Description
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Performs a circular cut on the work image. |
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Lua synopsis
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simVision.circularCutWorkImg(number handle,number radius,boolean toBuffer1) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
radius: the radius of the disc, expressed proportionally to the image resolution. Pixels outside of the disc's bounds are removed.
toBuffer1: if true, then the removed pixels are copied to buffer buffer1.
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Lua return values
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none |
simVision.colorSegmentationOnWorkImg
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Description
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Performs a color segmentation on the work image. |
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Lua synopsis
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simVision.colorSegmentationOnWorkImg(number handle,number colorDistance) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
colorDistance: the color distance to be used as threshold.
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Lua return values
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none |
simVision.coordinatesFromWorkImg
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Description
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Extracts relative coordinates from the work image (based on the view field of a vision sensor). |
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Lua synopsis
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number trigger,string packedPacket=simVision.coordinatesFromWorkImg(number handle,table_2 pointCount,boolean angularSpace) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
pointCount: the desired point count along X and Y.
angularSpace: whether the point sampling happens in the cartesian or angular space (within a given direction).
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Lua return values
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trigger: always false. Not used.
a) the number of points along X
b) the number of points along Y
then for each points:
c.1) the relative x coordinate of the point
c.2) the relative y coordinate of the point
c.3) the relative z coordinate of the point
c.4) the distance to the point
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simVision.edgeDetectionOnWorkImg
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Description
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Applies an edge detection filter to the work image. See also simVision.matrix3x3OnWorkImg and simVision.matrix5x5OnWorkImg. |
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Lua synopsis
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simVision.edgeDetectionOnWorkImg(number handle,number threshold) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
threshold: the threshold value.
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Lua return values
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none |
simVision.horizontalFlipWorkImg
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Description
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Horizontally flips the work image. See also simVision.verticalFlipWorkImg. |
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Lua synopsis
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simVision.horizontalFlipWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.intensityScaleOnWorkImg
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Description
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Transforms the work image into an intensity representation. |
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Lua synopsis
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simVision.intensityScaleOnWorkImg(number handle,number start,number end,boolean greyscale) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
start: the value representing the minimum intensity.
end: the value representing the maximum intensity.
greyscale: if true, the output is a grey scale image, otherwise it is a color coded intensity image.
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Lua return values
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none |
simVision.matrix3x3OnWorkImg
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Description
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Applies a 3X3 matrix filter to the work image. |
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Lua synopsis
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simVision.matrix3x3OnWorkImg(number handle,number passes,number multiplier,table_9 matrix) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
passes: the number of desired filter passes.
multiplier: a matrix multiplier.
matrix: the 3X3 matrix.
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Lua return values
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none |
simVision.matrix5x5OnWorkImg
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Description
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Applies a 5X5 matrix filter to the work image. |
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Lua synopsis
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simVision.matrix5x5OnWorkImg(number handle,number passes,number multiplier,table_25 matrix) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
passes: the number of desired filter passes.
multiplier: a matrix multiplier.
matrix: the 5X5 matrix.
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Lua return values
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none |
simVision.multiplyWorkImgWithBuffer1
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Description
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Multiplies (pixel wise) the work image with buffer buffer1, and stores the result in the work image. |
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Lua synopsis
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simVision.multiplyWorkImgWithBuffer1(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.normalizeWorkImg
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Description
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Normalizes the work image. |
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Lua synopsis
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simVision.normalizeWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.rectangularCutWorkImg
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Description
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Performs a rectangular cut on the work image. |
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Lua synopsis
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simVision.rectangularCutWorkImg(number handle,table_2 rectangle,boolean toBuffer1) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
rectangle: the x/y size of the rectangle, expressed proportionally to the image resolution. Pixels outside of the rectangle's bounds are removed.
toBuffer1: if true, then the removed pixels are copied to buffer buffer1.
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Lua return values
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none |
simVision.resizeWorkImg
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Description
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Scales the work image. The resolution remains same. |
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Lua synopsis
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simVision.resizeWorkImg(number handle,table_2 scaling) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
scaling: the x/y scaling.
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Lua return values
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none |
simVision.rotateWorkImg
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Description
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Performs a rotation of the work image. |
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Lua synopsis
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simVision.rotateWorkImg(number handle,number angle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
angle: the rotation angle in radians.
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Lua return values
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none |
simVision.scaleAndOffsetWorkImg
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Description
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Shifts and scales colors of the work image, in the RGB or HSL space: colorOut=postOffset+(colorIn+preOffset)*scaling |
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Lua synopsis
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simVision.scaleAndOffsetWorkImg(number handle,table_3 colorPreOffset,table_3 colorScaling,table_3 colorPostOffset,boolean rgbSpace) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
colorPreOffset: the pre-offset, in RGB or HSL space.
colorScaling: the scaling, in RGB or HSL space.
colorPostOffset: the post-offset, in RGB or HSL space.
rgbSpace: if true, values are in the RGB space, otherwise they are in the HSL space.
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Lua return values
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none |
simVision.selectiveColorOnWorkImg
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Description
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Selects a specific color in the RGB or HSL space of the work image. |
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Lua synopsis
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simVision.selectiveColorOnWorkImg(number handle,table_3 nominalColor,table_3 colorTolerance,boolean rgbSpace,boolean keepColor,boolean toBuffer1) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
nominalColor: the nominal color to select, in RGB or HSL space.
colorTolerance: the tolerance around the nominal color, in RGB or HSL space.
rgbSpace: if true, values are in the RGB space, otherwise they are in the HSL space.
keepColor: if true, the specified color is kept, otherwise it is removed.
toBuffer1: if true, the removed color is copied to buffer buffer1.
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Lua return values
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none |
simVision.sensorDepthMapToWorkImg
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Description
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Copies the depth buffer acquired by a vision sensor to the work image (buffer used for image processing). see also simVision.sensorImgToWorkImg and simVision.workImgToSensorImg. |
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Lua synopsis
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simVision.sensorDepthMapToWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.sensorImgToWorkImg
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Description
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Copies the RGB image acquired by a vision sensor to the work image (buffer used for image processing). See also simVision.sensorDepthMapToWorkImg and simVision.workImgToSensorImg. |
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Lua synopsis
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simVision.sensorImgToWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.sharpenWorkImg
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Description
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Sharpens the work image. See also simVision.matrix3x3OnWorkImg and simVision.matrix5x5OnWorkImg. |
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Lua synopsis
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simVision.sharpenWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.shiftWorkImg
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Description
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Shifts the work image. |
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Lua synopsis
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simVision.shiftWorkImg(number handle,table_2 shift,boolean wrap) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
shift: the x/y shift amount, proportional to the image resolution (0=no shift, 1=shift by x/y resolution pixels).
wrap: whether parts shifted outside the image frame wrap around.
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Lua return values
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none |
simVision.subtractBuffer1FromWorkImg
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Description
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Subtracts (pixel wise subtraction) buffer buffer1 from the work image. See also simVision.subtractWorkImgFromBuffer1 and simVision.addBuffer1ToWorkImg. |
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Lua synopsis
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simVision.subtractBuffer1FromWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.subtractWorkImgFromBuffer1
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Description
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Subtracts (pixel wise subtraction) the work image from buffer buffer1. See also simVision.subtractBuffer1FromWorkImg and simVision.addWorkImgToBuffer1. |
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Lua synopsis
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simVision.subtractWorkImgFromBuffer1(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.swapBuffers
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Description
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Swaps buffer buffer1 with buffer buffer2. See also simVision.swapWorkImgWithBuffer1. |
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Lua synopsis
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simVision.swapBuffers(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.swapWorkImgWithBuffer1
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Description
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Swaps the work image with buffer buffer1. See also simVision.swapBuffers. |
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Lua synopsis
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simVision.swapWorkImgWithBuffer1(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.uniformImgToWorkImg
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Description
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Applies a uniform color to the work image (buffer used for image processing) |
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Lua synopsis
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simVision.uniformImgToWorkImg(number handle,table_3 color) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
color: a table containing the RGB-triplet for the color (in the range of 0-1).
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Lua return values
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none |
simVision.velodyneDataFromWorkImg
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Description
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Extracts relative Velodyne coordinates from the work image (based on the view field of a vision sensor). |
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Lua synopsis
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number trigger,string packedPacket=simVision.velodyneDataFromWorkImg(number handle,table_2 pointCount,number verticalScanAngle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
pointCount: the desired point count along X and Y.
verticalScanAngle: the vertical scan angle.
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Lua return values
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trigger: always false. Not used.
a) the number of points along X
b) the number of points along Y
then for each points:
c.1) the relative x coordinate of the point
c.2) the relative y coordinate of the point
c.3) the relative z coordinate of the point
c.4) the distance to the point
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simVision.verticalFlipWorkImg
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Description
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Vertically flips the work image. See also simVision.horizontalFlipWorkImg. |
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Lua synopsis
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simVision.verticalFlipWorkImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.workImgToBuffer1
simVision.workImgToBuffer2
simVision.workImgToSensorDepthMap
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Description
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Copies the work image (buffer used for image processing) to a vision sensor's depth buffer (each depth buffer pixel will be averaged from the image RGB-triplet). See also simVision.workImgToSensorImg. |
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Lua synopsis
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simVision.workImgToSensorDepthMap(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
simVision.workImgToSensorImg
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Description
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Copies the work image (buffer used for image processing) to a vision sensor's RGB buffer. See also simVision.sensorImgToWorkImg. |
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Lua synopsis
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simVision.workImgToSensorImg(number handle) |
| Lua parameters |
handle: handle of the vision sensor, or sim.handle_self if the object attached to this script is the vision sensor.
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Lua return values
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none |
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