Get kinect internal camera matrix parameters

[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]

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]

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]

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