Configure a Join Color Depth View
Combine the streams of a color and a depth camera already registered in your config to create a view that outputs the combined and aligned image.
This specific model is good if you don’t need to align the streams.
If you need to adjust the alignment between the depth and color frames, use the align_color_depth_extrinsics
model or thealign_color_depth_homography
model.
Navigate to the Config tab of your robot’s page in the Viam app.
Click on the Components subtab and click Create component.
Select the camera
type, then select the join_color_depth
model.
Enter a name for your camera and click Create.
Edit and fill in the attributes as applicable.
{
"name": "<your-camera-name>",
"type": "camera",
"model" : "join_color_depth",
"attributes": {
"output_image_type": "<color|depth>",
"color_camera_name": "<your-camera-name>",
"depth_camera_name": "<your-camera-name>",
"intrinsic_parameters": {
"width_px": <int>, # the expected width of the aligned pic
"height_px": <int>, # the expected height of the aligned pic
"fx": <float>,
"fy": <float>,
"ppx": <float>,
"ppy": <float>
},
"distortion_parameters": {
"rk1": <float>,
"rk2": <float>,
"rk3": <float>,
"tp1": <float>,
"tp2": <float>
},
"debug": <boolean>
}
}
The following attributes are available for join_color_depth
views:
Name | Type | Inclusion | Description |
---|---|---|---|
output_image_type | string | Required | Specify color or depth for the output stream. |
color_camera_name | string | Required | name of the color camera to pull images from. |
depth_camera_name | string | Required | name of the depth camera to pull images from. |
intrinsic_parameters | object | Required | The intrinsic parameters of the camera used to do 2D <-> 3D projections:
|
distortion_parameters | object | Optional | Modified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens:
|
debug | boolean | Optional | Enables the debug outputs from the camera if true .Default: false . |
View the camera stream
Once your camera is configured and connected, go to the Control tab, and click on the camera’s dropdown menu. Then toggle the camera or the Point Cloud Data view to ON. If everything is configured correctly, you will see the live video feed from your camera. You can change the refresh frequency as needed to change bandwidth.

Next Steps
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