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.
  

  使用窗口菜单，您可以打开带有彩色点云的其他窗口。强度点云使用来自强度图像的信息为点云着色，灰度值图像表示反射光脉冲（近红外）的亮度。颜色点云使用点云数据将近点着色为红色，而将远点着色为蓝色。

• 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.

所有这些图像组件都可以使用“保存深度和图像数据”命令保存为单独的文件。

使用“像素信息”窗格#

您可以选择任何图像窗口中的任何点，以在“像素信息”窗格中获取更多与之相关的详细信息。可以找到以下信息：

• 垂直/水平像素位置：像素在传感器上的位置。
• X/Y/Z 坐标：像素在三维坐标系中的位置。
• 强度：像素的强度值。
• Confidence: The confidence of the pixel.
• 距离：点的距离，以 mm 为单位。
• 平均距离：点的平均距离，以 mm 为单位。通过平均相邻像素的距离值来计算平均距离。

选择一个点时，请注意以下几点：

• 在点云窗口中选取一个点时，其他窗口中的对应点也会被选中。
• 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.

操控点云#

使用鼠标或键盘快捷键，您可以以各种方式操控点云。以下是您可以执行的操作列表：