Get kinect internal camera matrix parameters

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slinkle
Posts: 3
Joined: 27 Nov 2016, 14:06

Get kinect internal camera matrix parameters

Post by slinkle »

Hello,

I'm trying to use v-rep do some simulation work.I wonder if there are some APIs for lua which can get and set the vision sensor's internal matrix parameters: fx,fy,px,py.

Looking forward to your reply!
Thanks!

coppelia
Site Admin
Posts: 7967
Joined: 14 Dec 2012, 00:25

Re: Get kinect internal camera matrix parameters

Post by coppelia »

Hello,

have a look at the object parameter ids for vision sensors or cameras.

Make sure you understand the difference between vision sensors and cameras.

Cheers

Houjiafan
Posts: 2
Joined: 08 Jul 2020, 13:16

Re: Get kinect internal camera matrix parameters

Post by Houjiafan »

Hi,

I need the same parameters, have you obtained them? I read the object parameter ids for vision sensor, but not sure which is the right one.

Best

coppelia
Site Admin
Posts: 7967
Joined: 14 Dec 2012, 00:25

Re: Get kinect internal camera matrix parameters

Post by coppelia »

Hello,

in CoppeliaSim a vision sensor (which is not the same as a camera) is defined via following properties:
  • angle of view (sim.getObjectFloatParameter(sensorHandle,sim.visionfloatparam_perspective_angle))
  • x/y resolution (sim.getObjectFloatParameters(sensorHandle,sim.visionintparam_resolution_x/y))
  • new/far clipping plane (sim.getObjectFloatParameters(sensorHandle,sim.visionfloatparam_near/far_clipping))
In CoppeliaSim the frame of a vision sensor has its Z-axis pointing into the direction looked at. The Y-axis is up, and the X-axis points to the left. That's it. Now you need to fin the correspondencies to a real camera, or to your parameters. Have also a look at this post.

Cheers

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