Kinect Get Camera Angle
Gets the elevation angle of the Kinect sensor.
Library
Description
The Kinect Get Camera Angle block gets the elevation angle of a Kinect sensor. The angle reported is in radians. The elevation angle is relative to the horizontal plane, where "horizontal" is determined with respect to gravity rather than any surface visible in the camera view.
The block also reports the accelerometer measurements from the Kinect sensor as a 3-vector, (X,Y,Z). The (X,Y,Z) coordinates correspond to the Quanser Standard Axes.
A Kinect Initialize block must be present in the model to configure the Kinect sensor.
Limitations
QUARC Linux DuoVero Target
This block is not currently supported on the QUARC Linux DuoVero target due to failure of the USB subsystem to
identify the motor component of the Kinect sensor.
Input Ports
This block has no input ports.
Output Ports
ang
The camera elevation angle in radians. The angle is relative to the horizontal plane.
acc
The measurements from the camera accelerometer as a 3-vector, (X,Y,Z), in m/s2. The coordinate frame corresponds with the Quanser Standard Axes.
Parameters and Dialog Box
Kinect name
The identity of the associated Kinect Initialize block. The Kinect Get Camera Angle block must be associated with a Kinect Initialize block.
Sample time
The sampling period (in seconds) of the Kinect Get Camera Angle block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time.
A sample time of -1 indicates that the block inherits its sample time. Since this is a source block, only inherent the sample time when it is placed in a conditionally executed subsystem, like a Triggered or Enabled Subsystem, or in a referenced model.
The default sample time is set to qc_get_step_size * ceil(0.033 / qc_get_step_size). The qc_get_step_size function is a QUARC function that returns the fundamental sampling time of the model. Hence, the default sample time is a discrete sample time which is a multiple of the fixed step size of the model and close to 1/30 of a second.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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No |
No |
Not supported. |
|
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Yes |
Yes |
||
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No |
No |
Not supported. |
|
|
No |
No |
Not supported. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
Fully supported. |
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
Fully supported. |
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