Configure an Align Color Depth Homography View
When you have a depth image and you need it to overlay on top of a color image exactly, a homography matrix can apply the necessary distortions to the depth image for it to overlap.
On the COMPONENTS subtab, navigate to the Create Component menu.
Enter a name for your camera, select the type camera, and select the align_color_depth_homography model.
Fill in the attributes for your align color depth homography view:
{
"name": "<camera_name>",
"type": "camera",
"model" : "align_color_depth_homography",
"attributes": {
"intrinsic_parameters": {
"width_px": <integer>,
"height_px": <integer>,
"fx": <float64>,
"fy": <float64>,
"ppx": <float64>,
"ppy": <float64>
},
"homography": {
"transform": [ <float64>, <float64>, <float64>,
<float64>, <float64>, <float64>,
<float64>, <float64>, <float64> ],
"depth_to_color": <boolean>,
"rotate_depth_degs": <integer>
},
"color_camera_name": "<camera_name>",
"depth_camera_name": "<camera_name>",
"output_image_type": "<color|depth>",
"distortion_parameters": {
"rk1": <float64>,
"rk2": <float64>,
"rk3": <float64>,
"tp1": <float64>,
"tp2": <float64>
},
"debug": <boolean>
}
}
The following attributes are available for align color depth homography views:
| Name | Inclusion | Description |
|---|---|---|
intrinsic_parameters | Required | The intrinsic parameters of the camera used to do 2D <-> 3D projections:
|
homography | Required | Parameters that morph the depth points to overlay the color points and align the images:
|
color_camera_name | Required | Name of the color camera to pull images from. |
depth_camera_name | Required | Name of the depth camera to pull images from. |
output_image_type | Required | Specify color or depth for the output stream. |
distortion_parameters | Optional | Modified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens:
|
debug | Optional | Enables the debug outputs from the camera if true. Defaults to false. |
View the camera stream
Once your camera is connected, go to the CONTROL tab, and click on the camera’s dropdown menu. Toggle “View Camera”. If everything is configured correctly, you will see the live video feed from your camera.
