CoppeliaSim forums

Hey Admin,

I need to make the simulation more realistic. So I need to know the minimum depth distance of vision sensors. I know the minimum depth distance of Intel D435 vision sensor, i.e 10 cm/.1m.
So, How can I know the minimum depth distance of vision sensors in coppeliasim using regular API?

I went through https://www.coppeliarobotics.com/helpFi ... tegory.htm API documentation, but I didn't find any API related to minimum depth distance.


Hope for the positive response.

Thanks in advance.

Isn't minimum depth given by the near plane?

Yeah. almost same. if the target distance less than minimum depth distance, those depth data are not valid.

for more explanation, kindly have a look into below images.

in the below image target distance is greater than minimum depth distance, so can say depth data is valid.


In the below case target distance is less or equal than minimum depth distance, we can say depth data is invalid.


Kindly have a look into below images also


I think that now my question is clear.

Hope for the positive response

Thanks in advance

suri wrote: ↑10 Aug 2020, 14:53 In the below case target distance is less or equal than minimum depth distance, we can say depth data is invalid.

I think the only way to simulate that occlusion is to set your vision sensor's near plane to 0 (or the lowest possible value) and then manually discard points that are closer than the real sensor's minimum distance.

The reason for this is that if the near plane is beyond the closest object it will pick the next object (unrealistic) instead of getting occlusion. This is normal for how 3D rendering works. What you want is to have the lowest possible value of the near plane (so as to nmot miss any object in front of the sensor) and then do the filtering on your own.