Capture Images from Line Scan Camera
Function
This Step obtains color images, depth maps, and point clouds from a real or virtual camera.
Usage Scenario
This Step is usually used as the starting input for a vision project. Data can be acquired using a line-scan structured-light camera or simulated using data from a virtual camera.
Input and Output
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. |
Color Image Path |
String |
Path or file name of the color image read in virtual mode. The output content is determined by the Image Name Type parameter. |
|
By default, the textured point cloud output by the "Capture Images from Line Scan 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 Line Scan Camera" Step is not connected to any subsequent Step. |
Parameter Description
| Parameter | Description |
|---|---|
Camera Type |
Description: Specifies the camera type. |
Virtual Mode |
Description: When enabled, locally saved data is read through a virtual camera. When disabled, data is acquired from a connected real camera. Default value: Disabled |
The parameters for real and virtual modes are described below.
Use a Real Camera
| Parameter | Description | ||
|---|---|---|---|
Camera ID |
Description: Connects the camera and selects the calibration parameter group. Instructions: Follow the steps below.
|
||
Camera Model |
Description: This read-only parameter displays the model of the currently connected camera. |
||
Calibration Parameter Group |
Description: Specifies 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.
|
||
Configuration Parameter Group |
Description: Selects the configuration parameter group of the camera. The camera acquires data according to the settings in this parameter group. Default value: Null Instructions: 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. Instructions: To adjust the camera parameters, click Adjust camera parameters. You can also manage parameter groups in Mech-Eye Viewer. |
||
IP Address |
Description: After the camera is successfully connected, the IP address is automatically retrieved. Do not change the IP address, as doing so will disconnect the camera. Default value: Null |
||
Timeout |
Description: Sets the maximum time, in milliseconds (ms), from when the camera receives a message to when it returns data to the client. A timeout occurs in either of the following situations:
|
||
Disconnect |
Description: Click Disconnect to disconnect the currently connected camera. |
||
Data Acquisition Trigger Source |
Description: Specifies the trigger source for camera data acquisition. |
||
Max Capture Attempts |
Description: Specifies the total number of data acquisition attempts when camera data acquisition fails due to a timeout. Default value: 3 Recommended value: 3 |
||
Robot Name in Communication Configuration |
Description: Specifies the robot name used in communication configuration. This name must match the name of the robot connected in communication configuration. Default value: Null. |
Use a Virtual Camera
| Parameter | Description |
|---|---|
Configuration Parameter Group |
Description: This parameter cannot be set in virtual mode. |
Calibration Parameter Group |
Instructions: After Data Path is selected, Calibration Parameter Group is automatically populated. If multiple calibration parameter groups exist under Data Path, select the desired camera calibration parameter group from the drop-down list. |
Data Path |
Description: Selects the folder containing the images and intrinsic and extrinsic camera parameters. |
Playback Mode |
Description: Specifies the order in which images are read. Value list: Sequential, Repeat one, Repeat all, Random
|
Current Frame Name |
Description: Displays the number or timestamp of the image currently being read. Default value: Null |
Image Name Type |
Description: Selects the type of image name output by the Color Image Path port. Value list: Complete Path, File Name, Base Name Default value: Complete Path. |
Max Capture Attempts |
Description: Specifies the total number of attempts to acquire data. Default value: 3 |