PEIS Home Simulator - Ãrebro universitet

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performance issues. The “hfov” attribute sets the horizontal field of view of the camera, the value is in degrees. Lastly, the “imageSize” values set the size, or resolution, of the camera image. Player Interfaces The “camera interface” in player is used to access the camera. 4.2 Stereo Camera There are plans to add a stereo camera to the real PEIS Home. There exists a model for this in Gazebo called “StereoHead” and so it was used in the simulator world file. Figure 4.3 Stereo camera model as it appears in Gazebo. The camera is placed in the middle of the ceiling looking downwards into the home. Images from the stereo camera in the PEIS Home simulation: Figure 4.4 Disparity image and normal image from a simulated stereo camera. The left image is a disparity image generated by combining images from both lenses. The other is an image from only one of the camera lenses. 27
Model declaration in the world file: stereoCam1 3.000 2.210 2.455 0 90 90 0.100 10.000 0 1 87 0.200 320 240 All attributes except one is recognizable from the earlier camera model (see above). The attribute “baseline” sets how far the distance should be between the two camera lenses on the stereo camera. Player Interfaces The “stereo interface” in Player is supported. 4.3 Problems Multiple Cameras During development it was discovered that adding several cameras greatly affected the performance of the simulation speed negatively. Having the five ceiling cameras all using moderately high resolution and update rate slowed the simulation speed to a crawl. To somewhat remedy this the update rate of the cameras are set very low and the image resolution is also lower then the real world camera counterparts. Should one wish to have these closer to the real world camera specifications a more powerful computer (mainly in the graphics department) than the one currently used to run Gazebo and the PEIS Home simulator is needed unless having the simulation run slowly is acceptable. 28
Page 1 and 2: Examensarbete 20 poäng D-nivå PEI
Page 3 and 4: Contents ABSTRACT..................
Page 5 and 6: Acknowledgements Thanks go to the f
Page 7 and 8: Figure 1.1 Physical Layout of the P
Page 9 and 10: 2 The Player Project The Player Pro
Page 11 and 12: The start and end tags; “” and
Page 13 and 14: 3 Simulation Environment 3.1 Home H
Page 15 and 16: As can be seen in the images one wa
Page 17 and 18: 3.1.5 Kitchen There are a few model
Page 19 and 20: The models together: Figure 3.8 The
Page 21 and 22: 3.2.2 Bookcase This is a basic book
Page 23 and 24: 3.2.5 Sofa This is a model of a sof
Page 25 and 26: To avoid unnecessary computations c
Page 27: Images from the camera in the simul
Page 31 and 32: Model declaration in the world file
Page 33 and 34: Player Interfaces The fridge provid
Page 35 and 36: Player Interfaces The manipulator m
Page 37 and 38: Some images showing comparison betw
Page 39 and 40: 7.2 Limitations and Problems In thi
Page 41: 8 References 1) A. Saffiotti and M.

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PEIS Home Simulator - Ãrebro universitet