Configure an Image File Camera
An image_file camera gets color and depth images frames from a file path.
If you provide a depth image, as well as the intrinsic parameters of the camera that took that depth image, then the camera will also provide a point cloud.
On the COMPONENTS subtab, navigate to the Create Component menu.
Enter a name for your camera, select the type camera, and select the image_file model.
Fill in the attributes for your image file camera:
{
"name": "<camera_name>",
"type": "camera",
"model" : "image_file",
"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>
},
"debug": <boolean>,
"color_image_file_path": <string>,
"depth_image_file_path": <string>
}
}
The following attributes are available for image file cameras:
| 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:
|
debug | Optional | Enables the debug outputs from the camera if true. Defaults to false. |
color_image_file_path | Optional | The file path to the color image. |
depth_image_file_path | Optional | The file path to the depth image. |
You must specify color_image_file_path or depth_image_file_path.
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.
