Configure a Join Point Clouds View
Combine the point clouds from multiple camera sources and project them to be from the point of view of target_frame:
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_pointclouds
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_pointclouds",
"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>
},
"distortion_parameters": {
"rk1": <float>,
"rk2": <float>,
"rk3": <float>,
"tp1": <float>,
"tp2": <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. |
intrinsic_parameters | object | Required | The intrinsic parameters of the camera used to do 2D <-> 3D projections:
|
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 |
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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