Capture Images from Camera

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Function

This Step is used to obtain color images, depth maps, and point clouds from a real camera or local data.

When this Step is used to connect a camera in the DEEP-GL or LSR series, the output color image is a 2D image (depth source). To adjust this 2D image (depth source), adjust the 2D Image (Depth Source) Exposure Mode and 2D Image (Depth Source) Exposure Time parameters in Mech-Eye Viewer.

Usage Scenario

This Step is usually the first Step in a Mech-Vision project. It is used to acquire data from a Mech-Eye Industrial 3D Camera or a third-party camera, or to read locally saved image data in Virtual Mode.

Input and Output

Input

This Step has no input ports.

Output

Output port	Data type	Description
Camera Depth Map	Image/Depth	Original depth map of the object.
Camera Color Image	Image/Color	Original color image of the object.
Point Cloud	PointCloud/XYZ	Object point cloud without normals.
Colored Point Cloud	PointCloud/XYZRGB	Colored point cloud of the object.

Output port

Data type

Description

Camera Depth Map

Image/Depth

Original depth map of the object.

Camera Color Image

Image/Color

Original color image of the object.

Point Cloud

PointCloud/XYZ

Object point cloud without normals.

Colored Point Cloud

PointCloud/XYZRGB

Colored point cloud of the object.

By default, the colored point cloud output by the “Capture Images from Camera” Step is used as the scene point cloud in the project. If the default scene point cloud is used in the project, images will still be captured even when the “Capture Images from Camera” Step is not connected to any subsequent Step.

Parameter Description

Parameter	Description
Virtual Mode	Description: When enabled, this step can be connected to a virtual camera; when disabled, it can be connected to a real camera. Default value: Disabled

Parameter

Description

Virtual Mode

Description: When enabled, this step can be connected to a virtual camera; when disabled, it can be connected to a real camera.

Default value: Disabled

Parameters related to virtual cameras and real cameras will be introduced below.

Use a Real Camera

Parameter

Description

Camera ID

Description: This parameter is used to connect the camera and select the calibration parameter group. Instruction: Follow these steps: — . Click Select camera to open the Choose the camera and calibration parameter group to use window.

. Select the camera to connect, then click the "Connect" button . When the button changes to the "Connected" status , the camera is connected. Click OK. —

Calibration Parameter Group

Description: This parameter is used to specify the calibration parameter group of the camera.

Default value: Null

Tuning recommendation: After the camera is successfully connected, the default calibration parameter group is automatically retrieved. When using the camera, ensure that the latest calibrated parameter group is applied to guarantee accurate reference frame transformation relationships in subsequent steps.

If the current project has already completed camera calibration, and a new project is created while continuing to use the same camera, manually copy the calibration parameter group from the current project into the calibration folder of the new project. This enables the new project to reuse the same calibration data for that camera, thereby avoiding the need for re-calibration.

Configuration Parameter Group

Description: This parameter is used to select the configuration parameter group of the camera. The camera will capture the data according to the parameters in this parameter group.

Default value: Null

Instruction: After the camera is successfully connected, the default parameter group is automatically retrieved. You can select the parameter group template corresponding to this camera model in the drop-down list.

TIP: You can manage parameter groups in Mech-Eye Viewer.

IP Address

Description: After the camera is connected successfully, the IP address will be obtained automatically. Do not change the IP address, as this may cause the camera to disconnect.

Default value: Null

Timeout

Description: This parameter specifies the maximum time, in milliseconds (ms), from when the camera receives a request to when it returns data to the client. A timeout can occur in either of the following cases:

The camera fails to be connected successfully within the set time.
The camera fails to capture any images within the set time.

Default value: 10000 ms

Num of Reconnection Attempts

Description: This parameter is used to specify the maximum number of attempts to reconnect the camera if the camera fails to be connected within the timeout period.

Default value: 3

Camera Model

Description: This parameter is only used to display the model of the currently connected camera.

2D Image Type

Description: This parameter is used to set the 2D image type output by the camera.

Value list:

Internal IR Image: A 2D image (depth source) that shares the depth map’s coordinate system and does not need to be rectified.
External Color Image: 2D images (texture) that should be rectified before use. You should select Rectify to Depth Map when 2D images of this type are output.

Default value: External Color Image

This parameter is only available for LSR and DEEP-GL series cameras.

Rectify to Depth Map

Description: This parameter is used to rectify the reference frame of the captured external color image to the reference frame of the depth map. It can be adjusted only when 2D Image Type is set to External Color Image for LSR and DEEP-GL series cameras.

Default setting: Unselected

Tuning instructions:

Please select this parameter when the point cloud quality is good and color image for highest layer needs to be acquired in the project.
If you use the Get Highest Layer Clouds Step followed by the Project 3D Point Cloud to 2D Image Step to obtain the corresponding 2D image, do not select this parameter.
To recognize highly reflective target objects with missing regions in the depth map, deep learning should be used and this parameter does not need to be selected. If this parameter is selected mistakenly under this circumstance, part of the features in the 2D image will be lost, thus affecting the recognition performance of deep learning.

Max Capture Attempts

Description: This parameter is used to specify the total number of attempts to capture the image if the camera fails to capture any image within the timeout period.

Default value: 3

Recommended value: 3

Robot Name Used in Communication Configuration

Description: This parameter specifies the robot service name. It must match the name and model of the robot connected in the robot communication settings.

Default value: Null.

Use a Virtual Camera

Parameter	Description
Calibration Parameter Group	Instruction: Once the data path is selected, the calibration parameter group will be automatically populated. If multiple calibration parameter groups exist under the data path, you can select the desired camera calibration parameter group from the drop-down list.
Data Path	Description: This parameter is used to select the folder where images, intrinsic parameters, and extrinsic parameters are stored.
Play Back Mode	Description: This parameter is used to specify the order to read the images. Value list: Sequential, Repeat one, Repeat all, Random Sequential (default value): Read the images in the order of the images in the folder. Repeat One: Read the current image repeatedly. Repeat All: Read all images in the order of the images in the folder, and then read them from the beginning after all images are read. Random: Read images randomly.
Current Frame Name	Description: This parameter displays the number or time of the currently read image. Default value: Null
Image Name Type	Description: This parameter is used to select the type of image name output by the Color Image Path port. Value list: Complete Path, File Name, Base Name Default value: Complete Path.

Parameter

Description

Calibration Parameter Group

Instruction: Once the data path is selected, the calibration parameter group will be automatically populated. If multiple calibration parameter groups exist under the data path, you can select the desired camera calibration parameter group from the drop-down list.

Data Path

Description: This parameter is used to select the folder where images, intrinsic parameters, and extrinsic parameters are stored.

Play Back Mode

Description: This parameter is used to specify the order to read the images.

Value list: Sequential, Repeat one, Repeat all, Random

Sequential (default value): Read the images in the order of the images in the folder.
Repeat One: Read the current image repeatedly.
Repeat All: Read all images in the order of the images in the folder, and then read them from the beginning after all images are read.
Random: Read images randomly.

Current Frame Name

Description: This parameter displays the number or time of the currently read image.

Default value: Null

Image Name Type

Description: This parameter is used to select the type of image name output by the Color Image Path port.

Value list: Complete Path, File Name, Base Name

Default value: Complete Path.

FAQs

For other issues related to camera connection and image acquisition, refer to Troubleshooting.

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