## How to calculate the coordinate by depth， resolution and perspective angle

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Zhuang
Posts: 25
Joined: 02 Aug 2017, 14:43

### How to calculate the coordinate by depth， resolution and perspective angle

Hi， coppelia
Recently, I try to use depth sensor to calculate a world position of a pixel. I see the sensor is different from real camera. I am not sure if the method that is used to calculate a position by perspective angel and depth is right.

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    camXHalfAngle = camXAngleInDegrees * 0.5 * math.pi/180
camYHalfAngle = math.atan(math.tan(camXAngleInDegrees*0.5* camYResolution/camXResolution))*math.pi/180
nearClippingPlane = 0.01
depthAmplitude = 3.5
xAngle = ((320-u+0.5)/320)*camXHalfAngle
yAngle = ((240-v+0.5)/240)*camYHalfAngle
depthValue = image_depth[v-1][u-1]  # u and v are the coordinate of the pixel. because the depth is turned so [v-1]#[u-1]
zCoord = nearClippingPlane+depthAmplitude * depthValue
xCoord = math.tan(xAngle) * zCoord
yCoord = math.tan(yAngle) * zCoord
pixels_coordinare_kinetic = np.mat([[xCoord],[yCoord],[zCoord],], np.float)

cheers,
zhuang

coppelia