2d laser simulation in v-rep

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lyz
Posts: 8
Joined: 07 Mar 2019, 07:34

2d laser simulation in v-rep

Post by lyz » 07 Mar 2019, 09:55

Hi, I set up a scene, and add a 2D laser scanner to V-rep. I want to test the characteristics of the laser. Then I add a pane(glass) 、a transparent glass and a black wall. In theory, the laser is unable to detect the glass and the black wall larger influence on it.But in V-rep, the uniform distribution of laser spot, basic no effect. Can someone help me explain it? Thanks a lot.

Image image: https://pan.baidu.com/s/1d57-qqQx54eQMei4k5nXfA

coppelia
Site Admin
Posts: 7020
Joined: 14 Dec 2012, 00:25

Re: 2d laser simulation in v-rep

Post by coppelia » 08 Mar 2019, 11:10

Hello,

this is normal: the laser scanner is implemented as a vision sensor, which will detect objects via the openGl depth buffer. This also means, that transparent objects will still be detected, since they also write to the OpenGl depth buffer.

Cheers

lyz
Posts: 8
Joined: 07 Mar 2019, 07:34

Re: 2d laser simulation in v-rep

Post by lyz » 12 Mar 2019, 13:23

Hello,
I know the sick tim310 is implemented as two vision sensors, but the 2d laser scanner doesn't seem to be. So how does V-rep simulate the real properties of lasers?

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