GigE Vision 2.0/GenICam image interface¶
Gigabit Ethernet for Machine Vision (“GigE Vision®” for short) is an industrial camera interface standard based on UDP/IP (see http://www.gigevision.com). The rc_visard is a GigE Vision® version 2.0 device and is hence compatible with all GigE Vision® 2.0 compliant frameworks and libraries.
GigE Vision® uses GenICam to describe the camera/device features. For more information about this Generic Interface for Cameras see http://www.genicam.org/.
Via this interface the rc_visard provides features such as
- discovery,
- IP configuration,
- configuration of camera related parameters,
- image grabbing, and
- time synchronization via IEEE 1588-2008 PrecisionTimeProtocol (PTPv2).
Note
The rc_visard supports jumbo frames of up to 9000 bytes. Setting an MTU of 9000 on your GigE Vision client side is recommended for best performance.
Note
Roboception provides tools and a C++ API with examples for discovery, configuration, and image streaming via the GigE Vision/GenICam interface. See http://www.roboception.com/download.
GigE Vision ports¶
GigE Vision is a UDP based protocol. On the rc_visard the UDP ports are fixed and known:
- UDP port 3956: GigE Vision Control Protocol (GVCP). Used for discovery, control and configuration.
- UDP port 50010: Stream channel source port for GigE Vision Stream Protocol (GVSP) used for image streaming.
Important GenICam parameters¶
The following list gives an overview of the relevant GenICam features of the rc_visard that can be read and/or changed via the GenICam interface. In addition to the standard parameters, which are defined in the Standard Feature Naming Convention (SFNC, see http://www.emva.org/standards-technology/genicam/genicam-downloads/), rc_visard devices also offer custom parameters that account for special features of the Camera and the Stereo matching module.
Important standard GenICam features¶
Category: ImageFormatControl¶
ComponentSelector
- type: Enumeration, one of
Intensity
,IntensityCombined
,Disparity
,Confidence
, orError
- default: -
- description: Allows the user to select one of the five image streams for configuration (see Provided image streams).
- type: Enumeration, one of
ComponentIDValue
(read-only)- type: Integer
- description: The ID of the image stream selected by the
ComponentSelector
.
ComponentEnable
- type: Boolean
- default: -
- description: If set to
true
, it enables the image stream selected byComponentSelector
; otherwise, it disables the stream. UsingComponentSelector
andComponentEnable
, individual image streams can be switched on and off.
Width
(read-only)- type: Integer
- description: Image width in pixel of image stream that is currently selected by
ComponentSelector
.
Height
(read-only)- type: Integer
- description: Image height in pixel of image stream that is currently selected by
ComponentSelector
.
WidthMax
(read-only)- type: Integer
- description: Maximum width of an image.
HeightMax
(read-only)- type: Integer
- description: Maximum height of an image in the streams. This is always 1920 pixels due to the
stacked left and right images in the
IntensityCombined
stream (see Provided image streams).
PixelFormat
- type: Enumeration, one of
Mono8
,YCbCr411_8
(color cameras only),Coord3D_C16
,Confidence8
andError8
- description: Pixel format of the selected component. The enumeration only permits to choose the format
among the possibly formats for the selected component. For a color camera,
Mono8
orYCbCr411_8
can be chosen for theIntensity
andIntensityCombined
component.
- type: Enumeration, one of
Category: AcquisitionControl¶
AcquisitionFrameRate
- type: Float, ranges from 1 Hz to 25 Hz
- default: 25 Hz
- description: Frame rate of the camera (FPS).
ExposureAuto
- type: Enumeration, one of
Continuous
,Out1High
,AdaptiveOut1
,HDR
orOff
- default:
Continuous
- description: Combines
exp_control
(exposure control) andexp_auto_mode
(auto exposure mode).Off
maps to Manual exposure control.Continuous
,Out1High
orAdaptiveOut1
enable Auto exposure control with the respective auto exposure mode whereContinuous
maps to the Normalexp_auto_mode
.HDR
enables high-dynamic-range exposure control.
- type: Enumeration, one of
ExposureTime
- type: Float, ranges from 66 µs to 18000 µs
- default: 5000 µs
- description: The cameras’ exposure time in microseconds for the manual exposure mode (Exposure).
Category: AnalogControl¶
GainSelector
(read-only)- type: Enumeration, is always
All
- default:
All
- description: The rc_visard currently supports only one overall gain setting.
- type: Enumeration, is always
Gain
- type: Float, ranges from 0 dB to 18 dB
- default: 0 dB
- description: The cameras’ gain value in decibel that is used in manual exposure mode (Gain).
BalanceWhiteAuto
(color cameras only)- type: Enumeration, one of
Continuous
orOff
- default:
Continuous
- description: Can be set to
Off
for manual white balancing mode or toContinuous
for auto white balancing. This feature is only available on color cameras (wb_auto).
- type: Enumeration, one of
BalanceRatioSelector
(color cameras only)- type: Enumeration, one of
Red
orBlue
- default:
Red
- description: Selects ratio to be modified by
BalanceRatio
.Red
means red to green ratio andBlue
means blue to green ratio. This feature is only available on color cameras.
- type: Enumeration, one of
BalanceRatio
(color cameras only)- type: Float, ranges from 0.125 to 8
- default: 1.2 if
Red
and 2.4 ifBlue
is selected inBalanceRatioSelector
- description: Weighting of red or blue to green color channel. This feature is only available on color cameras (wb_ratio).
Category: DigitalIOControl¶
LineSelector
- type: Enumeration, one of
Out1
,Out2
,In1
orIn2
- default:
Out1
- description: Selects the input or output line for getting the current status or setting the source.
- type: Enumeration, one of
LineStatus
(read-only)- type: Boolean
- description: Current status of the line selected by
LineSelector
.
LineStatusAll
(read-only)- type: Integer
- description: Current status of GPIO inputs and outputs represented in the lowest four bits.
Table 59 Meaning of bits of LineStatusAll
field.¶Bit 4 3 2 1 GPIO In 2 In 1 Out 2 Out 1
LineSource
- type: Enumeration, one of
ExposureActive
,ExposureAlternateActive
,Low
orHigh
- default:
Low
- description: Mode for output line selected by
LineSelector
as described in the IOControl module (out1_mode and out2_mode). See also parameterAcquisitionAlternateFilter
for filtering images inExposureAlternateActive
mode.
- type: Enumeration, one of
Category: TransportLayerControl / PtpControl¶
PtpEnable
- type: Boolean
- default:
false
- description: Switches PTP synchronization on and off.
Category: Scan3dControl¶
Scan3dDistanceUnit
(read-only)- type: Enumeration, is always
Pixel
- description: Unit for the disparity measurements, which is always
Pixel
.
- type: Enumeration, is always
Scan3dOutputMode
(read-only)- type: Enumeration, is always
DisparityC
- description: Mode for the depth measurements, which is always
DisparityC
.
- type: Enumeration, is always
Scan3dFocalLength
(read-only)- type: Float
- description: Focal length in pixel of image stream selected by
ComponentSelector
. In case of the componentDisparity
,Confidence
andError
, the value also depends on the resolution that is implicitly selected byDepthQuality
.
Scan3dBaseline
(read-only)- type: Float
- description: Baseline of the stereo camera in meters.
Scan3dPrinciplePointU
(read-only)- type: Float
- description: Horizontal location of the principle point in pixel of image stream selected by
ComponentSelector
. In case of the componentDisparity
,Confidence
andError
, the value also depends on the resolution that is implicitly selected byDepthQuality
.
Scan3dPrinciplePointV
(read-only)- type: Float
- description: Vertical location of the principle point in pixel of image stream selected by
ComponentSelector
. In case of the componentDisparity
,Confidence
andError
, the value also depends on the resolution that is implicitly selected byDepthQuality
.
Scan3dCoordinateScale
(read-only)- type: Float
- description: The scale factor that has to be multiplied with the disparity values in the disparity image stream to get the actual disparity measurements. This value is always 0.0625.
Scan3dCoordinateOffset
(read-only)- type: Float
- description: The offset that has to be added to the disparity values in the disparity image stream to get the actual disparity measurements. For the rc_visard, this value is always 0 and can therefore be disregarded.
Scan3dInvalidDataFlag
(read-only)- type: Boolean
- description: Is always
true
, which means that invalid data in the disparity image is marked by a specific value defined by theScan3dInvalidDataValue
parameter.
Scan3dInvalidDataValue
(read-only)- type: Float
- description: Is the value which stands for invalid disparity. This value is always 0, which means that disparity values of 0 correspond to invalid measurements. To distinguish between invalid disparity measurements and disparity measurements of 0 for objects which are infinitely far away, the rc_visard sets the disparity value for the latter to the smallest possible disparity value of 0.0625. This still corresponds to an object distance of several hundred meters.
Category: ChunkDataControl¶
ChunkModeActive
- type: Boolean
- default: False
- description: Enables chunk data that is delivered with every image.
Custom GenICam features of the rc_visard¶
Category: DeviceControl¶
RcSystemReady
(read-only)- type: Boolean
- description: Returns whether the device’s boot process has completed and all modules are running.
RcParamLockDisable
- type: Boolean
- default: False
- description: If set to true, the camera and depth image parameters are not locked when a GigE Vision client is connected to the device. Please note that depending on the connected GigE Vision client, parameter changes by other applications (e.g. the Web GUI) might not be noticed by the GigE Vision client, which could lead to unwanted results.
Category: AcquisitionControl¶
AcquisitionAlternateFilter
- type: Enumeration, one of
Off
,OnlyHigh
orOnlyLow
- default:
Off
- description: If this parameter is set to
OnlyHigh
(orOnlyLow
) and theLineSource
is set toExposureAlternateActive
for any output, then only camera images are delivered that are captured while the output is high, i.e. a potentially connected projector is on (or low, i.e. a potentially connected projector is off). This parameter is a simple means for only getting images without projected pattern. The minimal time difference between camera and disparity images will be about 40 ms in this case (see IOControl).
- type: Enumeration, one of
AcquisitionMultiPartMode
- type: Enumeration, one of
SingleComponent
orSynchronizedComponents
- default:
SingleComponent
- description: Only effective in MultiPart mode. If this parameter is set to
SingleComponent
the images are sent immediately as a single component per frame/buffer when they become available. This is the same behavior as when MultiPart is not supported by the client. If set toSynchronizedComponents
all enabled components are time synchronized on the rc_visard and only sent (in one frame/buffer) when they are all available for that timestamp.
- type: Enumeration, one of
ExposureTimeAutoMax
- type: Float, ranges from 66 µs to 18000 µs
- default: 18000 µs
- description: Maximal exposure time in auto exposure mode (Max Exposure).
ExposureRegionOffsetX
- type: Integer in the range of 0 to the maximum image width
- default: 0
- description: Horizontal offset of exposure region in pixel.
ExposureRegionOffsetY
- type: Integer in the range of 0 to the maximum image height
- default: 0
- description: Vertical offset of exposure region in pixel.
ExposureRegionWidth
- type: Integer in the range of 0 to the maximum image width
- default: 0
- description: Width of exposure region in pixel.
ExposureRegionHeight
- type: Integer in the range of 0 to the maximum image height
- default: 0
- description: Height of exposure region in pixel.
RcExposureAutoAverageMax
- type: Float in the range of 0 to 1
- default: 0.75
- description: Maximum brightness for the auto exposure function as value between 0 (dark) and 1 (bright).
RcExposureAutoAverageMin
- type: Float in the range of 0 to 1
- default: 0.25
- description: Minimum brightness for the auto exposure function as value between 0 (dark) and 1 (bright).
Category: Scan3dControl¶
FocalLengthFactor
(read-only)- type: Float
- description: The focal length scaled to an image width of 1 pixel. To get the focal length in pixels for a
certain image, this value must be multiplied by the width of the received image. See also parameter
Scan3dFocalLength
.
Baseline
(read-only)- type: Float
- description: This parameter is deprecated. The parameter
Scan3dBaseline
should be used instead.
Category: DepthControl¶
DepthAcquisitionMode
- type: Enumeration, one of
SingleFrame
,SingleFrameOut1
orContinuous
- default:
Continuous
- description: In single frame mode, stereo matching is performed upon each
call of
DepthAcquisitionTrigger
. TheSingleFrameOut1
mode can be used to control an external projector. It sets the line source ofOut1
toExposureAlternateActive
upon each trigger and resets it toLow
as soon as the images for stereo matching are grabbed. In continuous mode, stereo matching is performed continuously.
- type: Enumeration, one of
DepthAcquisitionTrigger
- type: Command
- description: This command triggers stereo matching of the next available
stereo image pair, if
DepthAcquisitionMode
is set toSingleFrame
orSingleFrameOut1
.
DepthQuality
- type: Enumeration, one of
Low
,Medium
,High
, orFull
(only with StereoPlus license) - default:
High
- description: Quality of disparity images. Lower quality results in disparity images with lower resolution (Quality).
- type: Enumeration, one of
DepthDoubleShot
- type: Boolean
- default:
False
- description:
True
for improving the stereo matching result of a scene recorded with a projector by filling holes with depth information computed from images without projector pattern. (Double-Shot).
DepthStaticScene
- type: Boolean
- default:
False
- description:
True
for averaging 8 consecutive camera images for improving the stereo matching result. (Static).
DepthSmooth
(read-only if StereoPlus license is not available)- type: Boolean
- default:
False
- description:
True
for advanced smoothing of disparity values. (Smoothing).
DepthFill
- type: Integer, ranges from 0 pixel to 4 pixels
- default: 3 pixels
- description: Value in pixels for Fill-In.
DepthSeg
- type: Integer, ranges from 0 pixel to 4000 pixels
- default: 200 pixels
- description: Value in pixels for Segmentation.
DepthMinConf
- type: Float, ranges from 0.0 to 1.0
- default: 0.0
- description: Value for Minimum Confidence filtering.
DepthMinDepth
- type: Float, ranges from 0.1 m to 100.0 m
- default: 0.1 m
- description: Value in meters for Minimum Distance filtering.
DepthMaxDepth
- type: Float, ranges from 0.1m to 100.0 m
- default: 100.0 m
- description: Value in meters for Maximum Distance filtering.
DepthMaxDepthErr
- type: Float, ranges from 0.01 m to 100.0 m
- default: 100.0 m
- description: Value in meters for Maximum Depth Error filtering.
Chunk data¶
The rc_visard supports chunk parameters that are transmitted with every
image. Chunk parameters all have the prefix Chunk
. Their meaning equals
their non-chunk counterparts, except that they belong to the corresponding
image, e.g. Scan3dFocalLength
depends on ComponentSelector
and
DepthQuality
as both can change the image resolution. The parameter
ChunkScan3dFocalLength
that is delivered with an image fits to the
resolution of the corresponding image.
Particularly useful chunk parameters are:
ChunkComponentSelector
selects for which component to extract the chunk data in MultiPart mode.ChunkComponentID
andChunkComponentIDValue
provide the relation of the image to its component (e.g. camera image or disparity image) without guessing from the image format or size.ChunkLineStatusAll
provides the status of all GPIOs at the time of image acquisition. SeeLineStatusAll
above for a description of bits.ChunkScan3d...
parameters are useful for 3D reconstruction as described in Section Image stream conversions.ChunkPartIndex
provides the index of the image part in this MultiPart block for the selected component (ChunkComponentSelector
).ChunkRcOut1Reduction
gives a ratio of how much the brightness of the images with GPIO Out1 LOW is lower than the brightness of the images with GPIO Out1 HIGH. For example, a value of 0.2 means that the images with GPIO Out1 LOW have 20% less brightness than the images with GPIO Out1 HIGH. This value is only available ifexp_auto_mode
of the stereo camera is set toAdaptiveOut1
orOut1High
(auto exposure mode).
Chunk data is enabled by setting the GenICam parameter ChunkModeActive
to
True
.
Provided image streams¶
The rc_visard provides the following five different image streams via the GenICam interface:
Component name | PixelFormat | Description |
---|---|---|
Intensity |
Mono8 (monochrome cameras)YCbCr411_8 (color cameras) |
Left rectified camera image |
IntensityCombined |
Mono8 (monochrome cameras)YCbCr411_8 (color cameras) |
Left rectified camera image stacked on right rectified camera image |
Disparity |
Coord3D_C16 |
Disparity image in desired resolution, i.e., DepthQuality of
Full , High , Medium or Low |
Confidence |
Confidence8 |
Confidence image |
Error |
Error8 (custom: 0x81080001) |
Disparity error image |
Each image comes with a buffer timestamp and the PixelFormat given in the above table. This PixelFormat should be used to distinguish between the different image types. Images belonging to the same acquisition timestamp can be found by comparing the GenICam buffer timestamps.
Image stream conversions¶
The disparity image contains 16 bit unsigned integer values. These values must be multiplied by the scale value
given in the GenICam feature Scan3dCoordinateScale to get the disparity values in pixels. To
compute the 3D object coordinates from the disparity values, the focal length and the baseline as well as the
principle point are required.
These parameters are transmitted as GenICam features Scan3dFocalLength, Scan3dBaseline,
Scan3dPrincipalPointU and Scan3dPrincipalPointV. The focal length and principal point depend on the image
resolution of the selected component.
Knowing these values, the pixel coordinates and the disparities can be transformed into 3D
object coordinates in the camera coordinate frame
using the equations described in Computing depth images and point clouds.
Note
The rc_visard’s camera coordinate frame is defined as shown in sensor coordinate frame.
Assuming that is the 16 bit disparity value at column
and row
of a disparity image, the float disparity in pixels
is given by
The 3D reconstruction in meters can be written with the GenICam parameters as:
The confidence image contains 8 bit unsigned integer values. These values have to be divided by 255 to get the confidence as value between 0 an 1.
The error image contains 8 bit unsigned integer values. The error must be multiplied
by the scale value given in the GenICam feature Scan3dCoordinateScale to get the disparity-error
values
in pixels. According to the description in
Confidence and error images, the
depth error
in meters can be computed with GenICam parameters as
Note
It is preferable to enable chunk data with the parameter ChunkModeActive and to use the chunk parameters ChunkScan3dCoordinateScale, ChunkScan3dFocalLength, ChunkScan3dBaseline, ChunkScan3dPrincipalPointU and ChunkScan3dPrincipalPointV that are delivered with every image, because their values already fit to the image resolution of the corresponding image.
For more information about disparity, error, and confidence images, please refer to Stereo matching.