Simulation

The BaseCamera class has support for integrating with a Simulation Framework WindowView

Info

See Extending BaseCamera

Simulation Window

The Simulation Window consists of a tab for each of the robot's cameras. Each tab will have independent resolution and frame rates, according to the robot configuration.

Upon initializing the camera simulator, an ephemeral TCP port will be assigned to an internal ZeroMQ server/client for IPC.

Bug

The internal ZeroMQ server does not use any form of encryption. Virtual cameras can be monitored through outside processes. The ZeroMQ server will eventually be encrypted, using a different key on every simulation startup.

Video Sources

Each simulated camera can connect to a physically connected camera using camera passthrough, or an uploaded image file.

Note

Camera passthrough is not currently available on macOS

Warning

A physical camera can only connect to one simulated camera, since connections aren't pooled.

Image Upload

Image upload can be used in the "Uploaded Image" video source.

Pressing the image upload button will display a file chooser to select an image.

Info

Only PNG, JPG, JPEG, and BMP images are supported

After an image is uploaded, you may select a crop mode.