Hidden in Rendering

[zhengkz]

Hi,

I wonder how to stop rendering a specific object for vision sensors, especially when the sensor is under 'color-coded handles' mode.

I have tried 'Hidden during simulation' and changed the visibility layers, but neither works for the rendering. Hope for your reply!

Best,
Kz

[coppelia]

Hello,

as of CoppeliaSim V4.6, I would use following approach:

• set the vision sensor to explicit handling
• in a child script, in the sensing section, call sim.handleVisionSensor(yourVisionSensorHandle)
• if you need to hide/show an object at some point, simply appropriately adjust the visibility layer for that object before/after the call to sim.handleVisionSensor, with sim.setObjectInt32Param(objectHandle, sim.intparam_visible_layers, l)

Cheers

[zhengkz]

Thanks for your reply! I'm wondering what values should I set the visibility layer to hide/show. By default, will all vision sensors always only render the objects in the first layer and ignore other layers? Thanks!

Best,
Kz

[zhengkz]

To give a more clear example, I attached two images below:


image 1


image 2

Image 1 comes from a normal RGB camera, and Image 2 comes from a handle-coded camera. You can see there are two large shadows above the boxes where these two cuboids should not be rendered. I have set 'Hidden during simulation' = True and set visibility layer = 2, but it still happens.

Best,
Kz

[coppelia]

Do something like:

Code: Select all

function sysCall_sensing()
    sim.setObjectInt32Param(objectToToggle, sim.intparam_visible_layers, 0) -- hide
    sim.handleVisionSensor(visionSensorHandle)
    sim.setObjectInt32Param(objectToToggle, sim.intparam_visible_layers, 0xffff) -- show
end

Cheers