huaileitang / vrep-api-python-opencv

Demo V-REP API python OpenCV

V-Rep API python OpenCV demo

Demo for track green object by OpenCV.

Scenario:

• Vision Sensor v0 get image from 3d scene
• python script get image, and handle by OpenCV - recognise any green object and make marker over it
• python script return image to Vision Sensor 'v1'

Screenshot:

Video:

• https://vimeo.com/161906321

File:

• scene.ttt V-REP scene (based on rosTopicPublisherAndSubscriber1.ttt)
• handle_vision_sensor.py - python script for handle image from V-REP

Scene:

• v0 - Vision Sensor - as source image for OpenCV
• v1 - Vision Sensor - checked as "External input" - for output from python

Install:

• V-REP: http://www.coppeliarobotics.com/downloads.html (tested on V-REP_PRO_EDU_V3_3_0_64_Linux)
• Python: https://www.python.org (tested in Python 2.7.6)
• OpenCV, Python OpenCV binding (f.e. http://milq.github.io/install-opencv-ubuntu-debian/)

Copy in this folder following files from V-REP:

• remoteApi.so (from V-REP_PRO_EDU_V3_2_2_64_Linux/programming/remoteApiBindings/lib/lib/64Bit)
• vrep.py (from V-REP_PRO_EDU_V3_2_2_64_Linux/programming/remoteApiBindings/python/python)
• vrepConst.py (from V-REP_PRO_EDU_V3_2_2_64_Linux/programming/remoteApiBindings/python/python)

Start:

0. Files remoteApi.so, vrep.py, vrepConst.py have to be copied in this folder
1. Start V-REP, open scene.ttt file
2. Start Simulation
3. In console start python script: $ python handle_vision_sensor.py
4. Image in v1 Vision sensor - from python