🔶Epic Pro Data Input

Function Description

This operator is the main entry node for ATOM’s interaction with Epic Pro, responsible for receiving data from Epic Pro. Additionally, to facilitate offline debugging and testing, the operator also supports reading .epicraw data files (containing images and point clouds) from local files to simulate real-time input.

Usage Scenarios

  • Applicable to multi-camera stitching scenarios.

  • Online operation: As the starting point of the algorithm workflow, receiving data from Epic Pro in real-time.

  • Offline debugging and testing: Loading locally saved .epicraw files or file sequences for testing and optimizing algorithm workflows without connecting to actual hardware.

Input and Output

Input

Color images

Point clouds

Camera intrinsics

Camera distortion

3D ROI

Hand-eye calibration matrix (rotation vector)

Output

Images: Image list obtained from input or files.

Point clouds (camera coordinate system): Raw point cloud list obtained from input or files.

Camera intrinsics: Obtained camera intrinsic parameter matrix list.

Camera distortion: Obtained camera distortion coefficient list.

3D ROI: Obtained three-dimensional ROI list.

Hand-eye calibration matrix (rotation matrix): Obtained hand-eye calibration matrix list.

Parameter Description

Applicable to multi-camera stitching scenarios. For single camera scenarios, please use the "Epic Pro Input (Single Data Group)" operator.

Data Reading Method

Parameter Description

Select the method for the operator to acquire data.

Parameter Adjustment

  • From EpicPro input (default): Receives data sent from Epic Pro, requires joint debugging for online operation.

  • Read local file: Only reads the specified single .epicraw file.

  • Read local folder: Reads .epicraw files from the local file folder in sequence and loops, and attempts to read the runSpace.json file in the same directory to obtain ROI and hand-eye calibration information.

Number of Data Groups

Parameter Description

Takes effect when "Data Reading Method" is set to "Read local folder", specifying how many groups of data to read continuously from the folder for output.

Parameter Adjustment

Set the number of data frames you want to load and process at once. If the number of files in the folder is less than this value, the operator may read cyclically.

Parameter Range

[1, 10], default value: 1