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Table of Contents

Kinect Get Camera Angle

Gets the elevation angle of the Kinect sensor.

Library

QUARC Targets/Multimedia

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library/Multimedia')

Description

Kinect Get Camera Angle

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

Warning 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 Get Camera Angle

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

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

No

No

Not supported.

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

No

No

Not supported.

QUARC QNX x86 Target

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.

* Compatible means that the block can be compiled for the target.

 

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