Camera

A camera group contains a camera and a set of hand-eye calibration relationships and ROI.

Before starting the camera group configuration, make sure that the hardware system has been connected.

Add Camera Group

Click the + on the right side of the camera group entry to add a camera group.

Multiple camera groups can be added if necessary. Multiple camera groups are generally used in scenes where the camera field of view is stitched.

Connect Camera and Set Camera Parameters

  1. Click the camera under the camera group entry and select the camera in the list on the right.

  2. Click Open Epic Eye.

  3. Place the calibration board in the center of the camera’s field of view.

  4. Click the capture button to view the 2D image and point cloud.

  5. Adjust the camera parameters to ensure that the calibration board in the 2D view is clear and properly exposed, and that the calibration board point cloud in the point cloud view is flat.

  6. Click Save and exit in the upper right corner.

Hand-Eye Calibration

Click Calibration under the Camera group entry to enter the hand-eye calibration configuration interface.

For detailed hand-eye calibration operation guide, please refer to Hand-eye calibration description.

Set ROI

ROI (Region of Interest) is a specific area in the data. Setting ROI can improve processing efficiency and accuracy, save resources, etc. ROI should include the entire area where the grasped object is located when it is stationary.

Interface and Operation

Click ROI under the Camera group entry to enter the ROI setting interface, which mainly consists of the following parts.

3D Display Area

This area displays the point cloud and ROI, and the following operations can be performed in this area.

  • Adjust the view

    • Rotate the view: Press and hold the left mouse button and drag in any direction.

    • Pan the view: Press and hold the right mouse button and drag in any direction.

    • Zoom the view: Scroll the mouse wheel.

    • Switch X/Y/Z view: Click ±X/±Y/±Z on the left side of the interface.

  • Adjust ROI

    Move the mouse pointer to the red/green/blue arrow, press and hold the left mouse button to drag the arrow to adjust the ROI size and position.

Parameter Setting Area

The following operations can be performed in this area:

  • Reset ROI

    Resetting ROI will restore the ROI size and position to the default initial state.

  • Refresh point cloud

    Refreshing the point cloud will control the camera to collect data once and update the point cloud in the 3D display area.

  • ROI size display

    Display the length, width, and height of the current ROI in the ROI data bar.

  • ROI adjustment

    • Step size adjustment: Select the step size in the drop-down bar to the right of the step size. The step size affects the offset when adjusting the ROI once.

    • Rotation, displacement, and stretching adjustment: Click the corresponding +/- button.

Adjustment Example

Take the diagram in the operation steps as an example. The adjustment process is as follows:

  1. Set the length and width of the ROI

    1. Click Z to switch to the +Z perspective.

    2. Move the mouse pointer to the red arrow, press and hold the left mouse button to drag the arrow to adjust the ROI length.

    3. Move the mouse pointer to the green arrow, press and hold the left mouse button to drag the arrow to adjust the ROI width.

    scenes camera roi example 1

  2. Set the height of the ROI

    1. Click Y to switch to the +Y perspective.

    2. Move the mouse pointer to the blue arrow, press and hold the left mouse button to drag the arrow to adjust the height of the ROI.

    scenes camera roi example 2

  3. Set the angle of the ROI

    In the parameter setting area, click - around the Y axis to adjust the angle of the ROI. + image::scenes-camera-roi-example-3.png[]