Configure a Dual Stream Camera
A dual_stream HTTP client camera combines the streams of two camera servers to create colorful point clouds.
One camera server streams a color stream and the other camera server streams a depth stream.
On the COMPONENTS subtab, navigate to the Create Component menu.
Enter a name for your camera, select the type camera, and select the dual_stream model.
Fill in the attributes for dual stream camera:
{
"name": "<camera_name>",
"type": "camera",
"model" : "dual_stream",
"attributes": {
"intrinsic_parameters": {
"width_px": <integer>,
"height_px": <integer>,
"fx": <float64>,
"fy": <float64>,
"ppx": <float64>,
"ppy": <float64>
},
"distortion_parameters": {
"rk1": <float64>,
"rk2": <float64>,
"rk3": <float64>,
"tp1": <float64>,
"tp2": <float64>
},
"stream": "<color|depth>",
"debug": <boolean>,
"color_url": <string>,
"depth_url": <string>
}
}
The following attributes are available for dual stream cameras views:
| Name | Inclusion | Description |
|---|---|---|
intrinsic_parameters | Optional | The intrinsic parameters of the camera used to do 2D <-> 3D projections:
|
distortion_parameters | Optional | Modified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens:
|
stream | Required | color or depth. The image to be returned when you call Next() or NextPointCloud(). |
debug | Optional | Enables the debug outputs from the camera if true. Defaults to false. |
color_url | Required | The color stream url. |
depth_url | Required | The depth stream url. |
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.
