def read_vision_sensor(self):
"""
Reads the image raw data from vrep vision sensor.
Returns:
resolution: Tuple with the image resolution.
image: List with the image data.
"""
res, resolution, image = vrep.simxGetVisionSensorImage(self.clientID, self.vision_handle, 0, vrep.simx_opmode_streaming)
while(res != vrep.simx_return_ok):
res, resolution, image = vrep.simxGetVisionSensorImage(self.clientID, self.vision_handle, 0, vrep.simx_opmode_buffer)
return resolution, image
def _get_image_from_visual_sensor(self):
_, res, _ = vrep.simxGetVisionSensorImage(env.conn_hanra_handlers[0],
0,
vrep.simx_opmode_streaming)
err, res, img = vrep.simxGetVisionSensorImage(
env.cov.camera_handlers[0], 0, vrep.simx_opmode_buffer)
if err == vrep.simx_return_ok:
print('Received image')
img = np.array(image, dtype=np.uint8)
img.resize([res[1], res[0], 3])
elif err == vrep.simx_return_novalue_flag:
print('No image received')
pass
else:
print('Error while receiving image: ', err)
def main():
env = VREPEnv()
print(env.camera_handlers)
time.sleep(2)
if (env.conn_handler != -1):
err, res, img = vrep.simxGetVisionSensorImage(
env.conn_handler, env.camera_handlers[0], 0,
vrep.simx_opmode_streaming)
while (vrep.simxGetConnectionId(env.conn_handler) != -1):
# Set random pos
pos = []
for i in range(4):
pos.append(np.random.randint(0, 180))
pos.append(np.random.randint(2))
env.step('uarm', pos)
# Get image from vision sensor
err, res, image = vrep.simxGetVisionSensorImage(
env.conn_handler, env.camera_handlers[0], 0,
vrep.simx_opmode_buffer)
if err == vrep.simx_return_ok:
print('Received image')
print(res)
img = np.array(image, dtype=np.uint8)
img.resize([res[1], res[0], 3])
cv2.imshow('image', img)
# Some magic stuff for correct image rendering
if cv2.waitKey(1) & 0xFF == ord('q'):
break
elif err == vrep.simx_return_novalue_flag:
print('No image received')
pass
else:
print('Error while receiving image: ', err)
else:
print('Failed to connect to remote API server')
env.finish()
cv2.destroyAllWindows()
def get_vision_image(self):
# vrep.simxReadVisionSensor(
# self.client_id,
# self.handles_dict['vision_sensor'],
# vrep.simx_opmode_blocking)
resp = vrep.simxGetVisionSensorImage(
self.client_id,
self.handles_dict['vision_sensor'],
0,
vrep.simx_opmode_blocking,
)
status = resp[0]
img_res = resp[1]
img_data = np.array(resp[2],
dtype=np.uint8).reshape(img_res[0], img_res[1], -1)
img_data = np.flipud(img_data) # Flip image (to fix it)
img_data = img_data[:, :, ::-1] # Convert BGR to RGB
# import cv2
# cv2.imwrite('./temp_vision_sensor.png', img_data)
return img_data