Image Acquisition

Function Description

Obtain color images, depth images, point cloud data, etc. from the camera. When virtual mode is enabled, there is no need to connect a camera, and local data can be read directly.

Use Cases

Generally used as the first step of a project to acquire images through a camera or read locally saved data in virtual mode.

Inputs

  • None.

Outputs

  • Depth Image: Original depth image of the object.

  • RGB Image: Original color image of the object.

  • Point Cloud: Object point cloud without normal vectors.

  • RGB Point Cloud: Color point cloud of the object.

Parameters

Camera Settings

  • Camera Type: Default is Percipio camera.

  • Virtual Mode: When enabled, uses a virtual camera to read locally saved image data; when disabled, connects to a real camera.

When Virtual Mode is Disabled

  • Select Camera: Used to select the camera to open. After connecting the camera, the Camera Assistant window opens.

  • Camera ID: Displays the SN of the selected camera.

  • Calibration Parameter Group: Selects the hand-eye calibration parameter file, used to establish the transformation relationship between the robot coordinate system and the visual sensor coordinate system, providing core parameters for robot guidance. Hand-eye calibration data files must be placed in the Asset/Calibration folder under the project directory.

  • Set Camera Parameters: Used to set camera parameters to achieve the expected imaging effect.

  • Configure Parameter Group: Used to select an existing camera parameter group. Selecting “Customize” will clear the current parameter group configuration.

  • IP Address: Displays the current IP address of the camera.

  • Capture Timeout: The maximum allowable time from when the camera receives a capture signal to when data is transferred to the client; if no data is received after this time, the current capture is considered failed.

  • Camera Model: Displays the model name of the currently selected camera.

  • Max Capture Attempts: Defines the maximum number of retries for the camera capture command. If the first capture fails, the system will automatically retry until the capture succeeds or the maximum number is reached. Once retries are exhausted without success, the current step will send a “Capture Failed Error” warning.

When Virtual Mode is Enabled

  • Calibration Parameter Group: Selects the hand-eye calibration parameter file, used to establish the transformation relationship between the robot coordinate system and the visual sensor coordinate system, providing core parameters for robot guidance. Hand-eye calibration data files must be placed in the Asset/Calibration folder under the project directory.

  • Data Path: Specifies the top-level folder path containing offline data. Path format: X:\YourDataFolder (no need to specify the internal Depth or Color subdirectories)

  • Playback Mode:

    • Sequential: Reads images in sequence according to the order in the folder.

    • Repeat One: Repeatedly reads the current image.

    • Repeat All: Reads all images in sequence, and when reaching the last image, automatically restarts from the beginning, infinitely looping.

    • Random: Randomly reads images.

  • Current Playback Frame: Displays the frame number of the current playback.