Operation

The following section mainly introduces the usage of Percipio Viewer:

1. Set camera IP

2. Select a camera

3. View information

4. Set work mode

5. View image

   • Alignment Perspective

   • Frame Rate

   • Latency

   • Adjust View

6. Adjust Parameters

7. Save Image

   • Save Image Once

   • Save Images Continuously

8. Record Video

9. Save/Load Parameter Settings

10. Generate fetch_config.xml

Before Using Percipio Viewer, Please:

1. Download Percipio Viewer from https://en.percipio.xyz/downloadcenter/. After extracting the files, you will get percipio-viewer.X.X.X.exe.

2. Connect the Percipio camera to the host computer. For connection methods, please refer to Hardware Connection.

3. If you are using a USB camera for the first time, please complete the following operations:

   • Windows: Download and install the driver from https://en.percipio.xyz/downloadcenter/. For installation instructions, please refer to install USB driver.

   • Linux: Please refer to install USB driver and access permission to complete the relevant configurations.

Set Camera IP

Percipio Viewer supports configuring the IP address of a network camera to either a static or dynamic IP. Before setting the camera IP, ensure that the host computer’s IP is on the target subnet.

Follow these steps to set the camera IP:

1. Click on Preferences. In the drop-down menu, click on Device IP Settings. Enter Device IP Settings page.

   

2. In the Net interface list, select the network interface of the target subnet or choose All network interfaces.

3. In the Found device, select the target camera’s serial number.

4. Fill in the following details sequentially: Device mac address, Device target IP, Device target gate, Device target mask.

   Note

   1. Find the MAC address from the label on the camera body. The format should be: xx:xx:xx:xx:xx:xx.

   2. Leaving the Device target IP field blank will set the current camera to use a dynamic IP address. Filling in this field will set the camera to use a static IP address.

5. Click Accept.

If the Log area displays “Device IP setting is successful,” it means the IP setting was successful. If the Log area displays “Device IP setting failed,” it indicates that the IP setting failed. Please check the computer’s network configuration, hardware connections, and the parameters entered on the Device IP Settings page.

Select a Camera

Percipio Viewer supports camera retrieval via Ethernet. Starting from version V1.2.3, Percipio Viewer does not automatically open the camera upon startup; you need to manually select and open it.

Using a camera with the serial number 207000106916 as an example, follow these steps to select a camera:

1. After the camera initialization is complete, click on Preferences. In the drop-down menu, click on Refresh Source to refresh the device list.

2. In the device list, select the target camera with the serial number 207000106916.

   

   Note

   If the serial number in the device list is followed by a camera status code and firmware error code (e.g., as shown in the image -1014, 0x00000000), it indicates that the camera cannot be opened normally. Please refer to the Error Codes to troubleshoot the issue.

View Information

1. Click to view information, including the Interface Name, Serial Number, Vendor, Model, MAC/IP Address (specific to network cameras), Firmware Version, and Configuration Version.

Network Camera Information

USB Camera Information

The firmware version information is relatively long. When you hover the mouse over the Firmware Version, the full content will be displayed.

You can use Ctrl+C + Ctrl+V to copy and paste the camera information.

Set Work Mode

Percipio Viewer supports setting the work mode of the camera, allowing the camera to capture images according to the settings.

When all data streams are , click , and select the work mode according to the table below.

Work Modes	Camera Working States
Trigger Mode Off	When the data stream is on, the camera continuously captures images at the highest frame rate.
Hardware Trigger Mode	Connect an external hardware trigger signal source to the camera. When the data stream is on, the camera captures images according to the trigger signal frequency.
Software Trigger Mode (continue)	When the data stream is on, the camera captures images upon receiving software trigger signals.
Software Trigger Mode (single)	When the data stream is on, click . Each click captures a single frame image.

A checkmark icon √ will appear to the right of the selected work mode.

Selected Work Mode

View Image

Percipio Viewer supports previewing different images under various work modes, viewing image resolution, frame rate, latency, and adjusting the view.

Alignment Perspective

When both the Depth Stream and Color Stream are , click the following buttons to switch to RGB-Depth alignment and RGB-3D alignment views:

• Click Registration to switch to the view where the color image is aligned with the depth map.

• Click Color 3D to the view where the color image is aligned with the 3D point cloud image.

Color Image and Depth map Alignment

Color Image and 3D Point Cloud Alignment

Frame Rate

When the camera is operating in free acquisition mode (Trigger Mode Off) and the data stream is on, you can preview images in real-time. The image resolution and frame rate can be viewed in the title bar above the image.

Preview Images in Free Acquisition Mode

Latency

1. When the camera is operating in continuous software trigger mode and the data stream is on, you can preview images in real-time. The image resolution, frame rate, and latency can be viewed in the title bar above the image.

   

   Preview Images in Continuous Software Trigger Mode

2. When the camera is operating in single frame software trigger mode and the data stream is on, you can preview images by clicking the button. The image resolution and latency can be viewed in the title bar above the image.

   

   Preview Images in Single Frame Software Trigger Mode

Note

1. When the camera is operating in hardware trigger mode, the title bar above the image only displays the image resolution, without showing the frame rate and latency.

2. The unit of latency is milliseconds (ms).

Adjust View

1. You can switch views by clicking on the options in the view switch area: 2D, 3D, Registration and Color 3D.

   Note

   You can only switch to the Registration or Color 3D views when both the Depth Stream and Color Stream are turned on.

2. Place the mouse over the 2D/3D image and use the following methods to adjust the view:

   • Zoom the image: Scroll the mouse wheel.

   • Pan the image (supported only in 3D/Color 3D views): Hold down the mouse wheel and drag.

   • Rotate the image (supported only in 3D/Color 3D views): Hold down the left mouse button and drag.

   • Reset the view (supported only in 3D/Color 3D views): Click

3. Press the Space key on the keyboard to pause the image display, and a pause icon will appear in the image display area. Press the Space key again or switch the view, and the pause icon will disappear, resuming real-time image display.

   

   Pause the image display

4. You can use the following keyboard keys to adjust the 3D/Color 3D view: W, S, A, D.

Adjust Parameters

Percipio Viewer supports adjusting parameters for different components.

1. Click on the left side of the component to expand the page and adjust the parameters as needed.

2. If some parameters are grayed out when the data stream is , it indicates that these parameters can only be modified when all data streams are .

3. Set Parameters:

   • Click on the right side of the parameter to input the set value.

   • Move the slider left or right to set the parameter value.

   

   Set Parameters

Note

Different camera models support different parameters, and the components and features displayed in the Percipio Viewer interface will change accordingly. For adjustable parameters, refer to the Parameter Descriptions .

Save Image

Save Image Once

Follow these steps to save a 2D/3D image:

Note

The image files are saved to the C drive by default. If you are unable to save to the default path, please refer to What to do if you cannot save files to the C drive?

• Switch to 2D View, and click on , select the save path and click Save.

• Switch to 3D/Color 3D View, and click on , select the file format for exporting the 3D point cloud (supports .xyz and .ply formats) and the save path, then click Save.

Save Images Continuously

Percipio Viewer can continuously save images (depth maps, color images, left and right grayscale images, depth maps mapped to color images, color images mapped to depth maps, point cloud images, and point cloud images generated after depth and color alignment) according to the preset frame count.

Correspondence Table of Image Type, Data Stream, and File Format

Image Type	Data Stream	Content and File Format for Continuous Image Saving
Depth	Depth Stream	Rendered Depth map, file name format: depthtime_index.jpg. Unrendered Depth map, filename format: depthtime_index.png.
Color	Color Stream	Color Image, file name format: color_time_index.png.
Left-IR	Left IR Stream	Left Grayscale Image, file name format: leftIR_time_index.png.
Right-IR	Right IR Stream	Right Grayscale Image, file name format: rightIR_time_index.png.
Piont3D	Depth Stream	Raw Point Cloud Data, file name format: Point3D_time_index.xyz.
RGB2D	Depth Stream + Color Stream	Aligned Color and Depth map, file name format: RGB2D_time_index.png.
D2RGB	Depth Stream + Color Stream	Rendered Image of Aligned Depth and Color, file name format: D2RGB_time_index.jpg. Unrendered Image of Aligned Depth and Color, file name format: D2RGB_time_index.png. Undistorted Color Image, file name format: undistort_color_time_index.png.
Color3D	Depth Stream + Color Stream	Note When saving Color3D, in addition to enabling Depth Stream and Color Stream, you must also select the D2RGB or RGB2D image type to enable Color3D and perform continuous image saving operations. D2RGB+Color3D Aligned Color Point Cloud Image, file name format: Color3D(map_to_color)_time_index.xyz Rendered Image of Aligned Depth and Color, file name format: D2RGB_time_index.jpg. Unrendered Image of Aligned Depth and Color, file name format: D2RGB_time_index.png. Undistorted Color Image, file name format: undistort_color_time_index.png. RGB2D+Color3D Aligned Depth Point Cloud Image, file name format: Color3D_time_index.xyz. Image of Aligned Color and Depth, file name format: RGB2D_time_index.png. Undistorted Color Image, file name format: undistort_color_time_index.png.

Specific Operation Steps:

1. Enable the corresponding data stream based on the image type(s) to be saved. Refer to the table above for the relationship between image types and data streams.

2. Click to bring up the parameter settings interface.

   

   Record Parameter Settings Interface

3. Save Type select as Images.

4. Set the frame cnt parameter, which is the number of image frames to be saved.

   

   Set Frame Count for Continuous Image Saving Mode

5. Select the desired image type(s) to be saved. Both single and multiple selections are supported.

   

   Select Image Type

6. Click to choose the save path for the images.

7. Click Save to begin continuously saving images.

   

   Continuous Image Saving Process

   After saving the specified number of frames, the continuous image saving operation will automatically stop. If you need to stop the saving operation during the continuous image saving process, click .

   The save path of the images will be displayed in the upper right corner of the image display area and in the Log information display area.

Record Video

Percipio Viewer supports recording videos while capturing images from the camera. During video recording, some parameters can be adjusted, but enabling/disabling data streams is not supported.

Follow these steps to record video:

1. Start at least one data stream.

2. Click button to open the parameter settings interface.

   

   Record Parameter Settings Interface

3. Set the Save Type to Bag.

   

   Switch Video Recording Mode

4. Click to select the video save path.

   The .bag file name defaults to a timestamp and cannot be modified.

5. Click Save to start recording.

6. Click to end recording.

   The save path of the .bag file will be displayed in the upper right corner of the image display area and in the Log information display area.

To replay the recorded video, click Preferences then click Load Recorded Sequence from the drop-down menu, and select the target .bag.

Video Playback

Save/Load Parameter Settings

Percipio Viewer supports saving modified camera features (Controls parameters and image resolution) to a .json file to either local storage or the camera’s storage area, allowing the modified parameters to be loaded into the camera later.

Save Parameter Settings

1. Modify the camera features as needed. Camera features include parameters under the Controls category and image resolution.

   

   Save Parameter Settings

2. Click the corresponding icon to perform the parameter saving operation.

   • Click to save the modified parameters of the current camera to a local .json file.

   • Click to save the modified parameters of the current camera as a .json file to the camera’s Storage. The data written to the camera’s Storage area will not be lost after a power cycle.

   • Click to import a local .json file into the camera’s Storage area. The data imported into the camera’s Storage area will not be lost after a power cycle.

   • Click to save the .json file from the camera’s storage area to the local system.

Load Parameter Settings

1. Close all data streams.

2. Ensure that all data streams are off before proceeding with parameter loading.

   • Click to load a local .json file. The parameter settings within the file will take effect immediately.

   • Click to load a .json file from the current camera’s Storage area. The parameter settings within the file will take effect immediately.

Clear Data

• Click to clear all data in the current camera’s Storage.

Generate fetch_config.xml

Percipio Viewer supports generating a fetch_config.xml file for a specified camera, allowing for a comprehensive understanding of the components and features supported by the camera.

1. Create a new .xml file named fetch_config.

2. Place the .xml file in the same directory as the Percipio Viewer software.

3. Open the software and select the camera. The system will automatically generate a fetch_config.xml file corresponding to the selected camera. The fetch_config.xml file contains all the components and features supported by the camera, allowing users to view detailed information.