GL Vision Simulator Plugin

Overview

The GL vision simulator plugin (GLVisionSimulatorPlugin) is a plugin that provides the simulation functionality of vision sensors such as cameras and range sensors mounted on robots.

The “GLVisionSimulator” provided by this plugin is an item that functions as a Sub-simulator and is used in combination with a simulator item. It generates sensor outputs such as camera images and depth images by internally performing the same rendering process as the 3D CG display from the viewpoints of the sensors. Since this process does not depend on the physics computation algorithm, it can be used in combination with any simulator item.

How to Build

This plugin corresponds to the CMake option BUILD_GL_VISION_SIMULATOR_PLUGIN, which is ON by default, so it is built with the normal build procedure.

How to Use

The detailed usage of this plugin is explained in the chapter Vision Sensor Simulation. Please refer to it.