Camera

If this parameter is given and contains an eeprom id or serial number of a monocular camera, the command will render the captured meshes from the perspective of the monocular camera.

  • The global Size parameter will be ignored. Instead the size of the Binary output item RenderPointMap will match the size of the monocular camera image.

  • The global PixelSize parameter will be ignored. The camera’s internal projection and distortion parameters will be used instead to render the meshes.

  • The global ViewPose parameter will be ignored. The monocular cameras world pose will be used instead.

After the command execution each pixel in RenderPointMap then holds three float values, corresponding to the x, y and z world coordinates of the surfaces seen by the monocular camera at the same pixel coordinate. You can thus directly overlay the two images to obtain a 6 channel R,G,B,X,Y,Z image (or 4 channels Gray,X,Y,Z for a black and white viewer camera).

Accepted Formats

Number

A single camera eeprom id

String

A single camera serial number

Note

When using perspective rendering you need to specify the Near and Far parameters explicitly, because both clipping planes are required to be in front of the camera (i.e. positive)! You can for example set the Near clipping to 50, as the default value for Far is already positive. Beware that this setting will discard all surfaces closer than 50mm to the monocular camera from the rendered image, so you might carefully choose the two planes to not clip away useful depth data!