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In commit 50969a2, I changed the API I used to get distance data from
the vision sensors. Somewhat disappointingly, the new API returns data
in the reverse order from the old API; this commit corrects the order in
Lua before passing it off to C++.
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The documentation string (and README documentation) for
'simExtAutomobileRequestNoise' specified that distance noise was passed
before intensity noise. In actuality, the reverse is true.
This is an API-compatible change; only the documentation and example
have been updated.
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V-REP models vision sensors’ fields of vision as frusta – i.e., V-REP
assumes the camera’s field of view terminates in a plane whose points
are generally not equidistant from the aperture. Unfortunately, most
humans think of a camera’s field of view terminating in a paraboloid.
Thus, to the human brain, the raw depth buffer V-REP returns appears
distorted. This commit fixes that by getting depth data from a filter,
rather than the raw depth buffer; this causes V-REP to perform
correction on the data.
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Benjamin Barenblat