I have the above Ensenso camera mounted on a robot arm (UR5) and I’m capturing point clouds of different workpieces. I need to simulate the field of view of the camera to plan what it will capture in different poses, but cannot figure out the way to do it. In theory I have all the necessary data (robot pose, hand-eye calibration data for the camera, camera parameters). How could I use these to get the field of view (cone) of the camera? I am using the Python API.
The easiest way to get the cameras field of view is to use the GetModelInfo command. Here you input a distance or a disparity and you will get the four coordinates of the corresponding field of view in return. Using the WorldCoordinates parameter you can change the output coordinate system from camera coordinates to world coordinates.