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Verify if world point is in camera's field of view

Hi, I'm trying to verify if a point in the world is in the field of view of the Kinect that I'm using. I have the coordinates of that point in the world (x,y,z), afterwards I can transform that point to the camera_depth_optical_frame using something like: Notice that "object_on_world" and "object_on_camera" are PointStamped structures.


transform = self.tf_buffer.lookup_transform('camera_depth_optical_frame', 'map', rospy.Time(0), rospy.Duratio(1.0))
object_on_camera = tf2_geometry_msgs.do_transform_pose(object_on_world, transform) #point on camera_depth_optical_frame

Given that point, how can I know if the camera should be seeing it or not? I think I need to get the horizontal angle and the vertical angle that this point is doing with the camera using the depth 'z', right, and verify if that lays in the accepted angles for the fov. I'm using openni for the kinect v1 drivers.

Another thing, anyone knows the kinect v1 field of view exactly? Thanks for your patience, SancheZ

Verify if world point is in camera's field of view

Hi, I'm trying to verify if a point in the world is in the field of view of the Kinect that I'm using. I have the coordinates of that point in the world (x,y,z), afterwards I can transform that point to the camera_depth_optical_frame using something like: Notice that "object_on_world" and "object_on_camera" are PointStamped structures.


transform = self.tf_buffer.lookup_transform('camera_depth_optical_frame', 'map', rospy.Time(0), rospy.Duratio(1.0))
object_on_camera = tf2_geometry_msgs.do_transform_pose(object_on_world, transform) #point on camera_depth_optical_frame

Given that point, how can I know if the camera should be seeing it or not? I think I need to get the horizontal angle and the vertical angle that this point is doing with the camera using the depth 'z', right, and right? Then i need to verify if that lays in the accepted angles for the fov. But how do i get these angles using the camera_depth_optical_frame? I'm using openni for the kinect v1 drivers.

Another thing, anyone knows the kinect v1 field of view exactly? Thanks for your patience, SancheZ SancheZ

Verify if world point is in camera's field of view

Hi, I'm trying to verify if a point in the world is in the field of view of the Kinect that I'm using. I have the coordinates of that point in the world (x,y,z), afterwards I can transform that point to the camera_depth_optical_frame using something like: Notice that "object_on_world" and "object_on_camera" are PointStamped structures.


transform = self.tf_buffer.lookup_transform('camera_depth_optical_frame', 'map', rospy.Time(0), rospy.Duratio(1.0))
object_on_camera = tf2_geometry_msgs.do_transform_pose(object_on_world, transform) #point on camera_depth_optical_frame

Notice that "object_on_world" and "object_on_camera" are PointStamped structures. Given that point, how can I know if the camera should be seeing it or not? I think I need to get the horizontal angle and the vertical angle that this point is doing with the camera using the depth 'z', right? Then i need to verify if that lays in the accepted angles for the fov. But how do i get these angles using the camera_depth_optical_frame? I'm using openni for the kinect v1 drivers.

drivers. Another thing, anyone knows the kinect v1 field of view exactly?

Thanks for your patience, SancheZ