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:
On the COMPONENTS subtab, navigate to the Create Component menu.
Enter a name for your camera, select the type camera, and select the join_pointclouds model.
Fill in the attributes for your join point clouds view:
{
"name": "<camera_name>",
"type": "camera",
"model" : "join_pointclouds",
"attributes": {
"target_frame": <string>,
"source_cameras": ["cam1", "cam2", ... ],
"proximity_threshold_mm": <integer>,
"merge_method": "<naive|icp>",
"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>
}
}
The following attributes are available for join point clouds views:
| Name | Inclusion | Description |
|---|---|---|
target_frame | Required | The frame of reference for the points in the merged point cloud. |
source_cameras | Required | The camera sources to combine. |
proximity_threshold_mm | Optional | Defines the biggest distance 2 points can have in mm to be considered the same point when merged. |
merge_method | Optional | naive or icp. Defaults to naive. |
intrinsic_parameters | Required | 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. |
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.
