Camera sensor & Deformable terrain

[Jay Sun]

Hi, everyone

       I'm using pychrono, but I'm having some problems:
1. When I added the camera sensor, I found that the image taken by it was mirrored (opposite left and right, as shown below, the left side is the front view, and the right side is the simulator's picture). I found that the car was tilted to the right, but the picture was tilted to the left, and I tested the texture map on the ground, which was also the opposite).

2. The second is about deformable ground, how to set different mechanical parameters on 10X10m ground. Compare the terrain to the depth map below, where the black part is set to the mechanical parameters of the sand and the white part is set to the mechanical parameters of the snow.
I hope you can give me some advice and look forward to your reply.

[Radu Serban]

Jay,

 

I will let someone else, more familiar with the current Chrono::Sensor code to answer your 1^st question.

 

Regarding your 2^nd question and assuming you are talking about SCM deformable terrain (please make sure to be as specific as you can in the future), you can set location-dependent parameters using a callback mechanism. Implement the method Set() of a custom class derived from SCMTerrain::SoilParametersCallback and register it with a call to RegisterSoilParametersCallback.  You can see an example in demo_VEH_SCMTerrain_RigidTire.cpp (C++) and demo_VEH_DeformableSoil.py (Python).

 

--Radu

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