image_file

An image_file camera gets color and depth image frames or point clouds from a file path on your local system.

Configuration

{
  "name": "<your-camera-name>",
  "model": "image_file",
  "api": "rdk:component:camera",
  "attributes": {
    "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>
    },
    "color_image_file_path": "<your-file-path>",
    "depth_image_file_path": "<your-file-path>",
    "pointcloud_file_path": "<your-file-path>",
    "preloaded_image: "<pizza|dog|crowd>"
  }
}

Attributes

NameTypeRequired?Description
intrinsic_parametersobjectOptionalThe intrinsic parameters of the camera used to do 2D <-> 3D projections:
  • width_px: The expected width of the aligned image in pixels. Value must be >= 0.
  • height_px: The expected height of the aligned image in pixels. Value must be >= 0.
  • fx: The image center x point.
  • fy: The image center y point.
  • ppx: The image focal x.
  • ppy: The image focal y.
distortion_parametersobjectOptionalModified Brown-Conrady parameters used to correct for distortions caused by the shape of the camera lens:
  • rk1: The radial distortion x.
  • rk2: The radial distortion y.
  • rk3: The radial distortion z.
  • tp1: The tangential distortion x.
  • tp2: The tangential distortion y.
color_image_file_pathstringOptionalThe file path to the color image on your local system.
depth_image_file_pathstringOptionalThe file path to the depth image on your local system.
pointcloud_file_pathstringOptionalThe file path to the point cloud file on your local system.
preloaded_imagestringOptionalSelect a pre-loaded image for the camera to display. Options: "pizza", "dog", "crowd".

You must specify at least one of color_image_file_path, depth_image_file_path, and pointcloud_file_path.

If you provide configuration for the depth_image_file_path and intrinsic_parameters of the camera, then your machine will also retrieve point cloud data from the depth_image_file_path. If you then also configure a pointcloud_file_path on your camera, Viam will try to pull the data from the pointcloud_file_path first.