Configure a Join Point Clouds View
The join_pointclouds
model combines the point clouds from multiple camera sources and projects them to be from the point of view of target_frame.
Navigate to the CONFIGURE tab of your machine’s page in the Viam app.
Click the + icon next to your machine part in the left-hand menu and select Component.
Select the camera
type, then select the join_pointclouds
model.
Enter a name or use the suggested name for your camera and click Create.
Edit the attributes as applicable to your machine, according to the table below.
{
"name": "<your-camera-name>",
"model": "join_pointclouds",
"type": "camera",
"namespace": "rdk",
"attributes": {
"target_frame": "<target-frame-name>",
"source_cameras": ["<cam-name-1>", "<cam-name-2>", ... ],
"proximity_threshold_mm": <int>,
"merge_method": "<naive|icp>",
"intrinsic_parameters": {
"width_px": <int>,
"height_px": <int>,
"fx": <float>,
"fy": <float>,
"ppx": <float>,
"ppy": <float>
},
"debug": <boolean>
}
}
The following attributes are available for join_pointclouds
views:
Name | Type | Inclusion | Description |
---|---|---|---|
target_frame | string | Required | The frame of reference for the points in the merged point cloud. |
source_cameras | array | Required | The name of each of the camera sources to combine. |
proximity_threshold_mm | int | Optional | Defines the largest distance 2 points can have in millimeters to be considered the same point when merged. |
merge_method | string | Optional | naive or icp .Default: naive |
intrinsic_parameters | object | Optional | The intrinsic parameters to project the joined point cloud to 2D:
|
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
Have questions, or want to meet other people working on robots? Join our Community Discord.
If you notice any issues with the documentation, feel free to file an issue or edit this file.
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