Image Windows (Stereo ace)#

This topics explains the different image windows of the Stereo Camera Viewer.

When starting image acquisition using the Stereo Camera Viewer, four windows are opened in the image window area. They show 3D and 2D views of the scene that the camera is capturing.

• Point Cloud (3D): Each point in the cloud holds three values representing the XYZ coordinates of the point. By default, the point cloud is displayed utilizing the information from the point cloud and the confidence image. Near points are colored red and far points are colored blue. The intensity of the color is determined by the confidence. The higher the confidence value of the measurement, the more intense the color of the point will be.
  

  Using the Window menu, you can open additional windows with colored point clouds. The intensity point cloud colors the point cloud using the information from the intensity image, a gray value image representing the brightness of the reflected light pulses (near-infrared). Color point cloud uses the point cloud data for coloring near points red and far away points blue.

• Depth Map (2D): The depth map is calculated from the point cloud data. By default, the depth map is displayed in color. Using the Window menu, you can open additional depth map windows in color or using gray values.

• Intensity Image (2D): Left rectified camera image. Depending on the pixel format specified and the camera model, the image is mono or color.
• Confidence Map (2D): The confidence map represents a measure of how reliable the depth image data is. The higher the value, i.e., the brighter the pixel, the more reliable the measurement. Confidence is based on an internal error map which gives a typical error value for every disparity value measured. Confidence values represent the probability that the true disparity value lies within a range of three times the error around the disparity measured.

All of these image components can be saved as individual files using the Save Depth and Image Data command.

Using the Pixel Information Pane#

You can pick any point in any of the image windows to get more details about it in the Pixel Information pane. The following information is available:

• Vertical/Horizontal Pixel Position: The location of the pixel on the sensor.
• X/Y/Z Coordinates: The position of the pixel in a three-dimensional coordinate system.
• Intensity: The intensity value of the pixel.
• Confidence: The confidence of the pixel.
• Distance: The distance of the point in mm.
• Mean Distance: The mean distance of the point in mm. The mean distance is calculated by averaging the distance values of neighboring pixels.

When picking a point, be aware of the following:

• When picking a point in the Point Cloud window, the corresponding point in the other windows will also be selected.
• When picking a point in any of the 2D views, the corresponding point in the Point Cloud window will be selected if depth data is available for that point.

Manipulating the Point Cloud#

Using the mouse or keyboard shortcuts, you can manipulate the point cloud in various ways. Following is a list of actions that you can perform: