Users Manual

Particularly useful chunk parameters are:
• ChunkComponentSelector selects for which component to extract the chunk data in MultiPart mode.
• ChunkComponentID and ChunkComponentIDValue 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. See
LineStatusAll above for a description of bits.
• ChunkScan3d... parameters are useful for 3D reconstruction as described in Section Image stream con-
versions (Section 8.1.3).
• ChunkPartIndex provides the index of the image part in this MultiPart block for the selected component
(ChunkComponentSelector).
Chunk data is enabled by setting the GenICam parameter ChunkModeActive to True.
8.1.2 Provided image streams
The rc_visard provides the following five different image streams via the GenICam interface:
Component name PixelFormat Width×Height Description
Intensity
Mono8 (monochrome
sensors)
YCbCr411
_
8 (color sensors)
1280×960 Left rectified camera image
IntensityCombined
Mono8 (monochrome
sensors)
YCbCr411
_
8 (color sensors)
1280×1920 Left rectified camera im-
age stacked on right rectified
camera image
Disparity Coord3D
_
C16
1280×1920
640×480
320×240
214×160
Disparity image in de-
sired resolution, i.e.,
DepthQuality of Full,
High, Medium or Low
Confidence Confidence8 same as Disparity Confidence image
Error Error8 (custom:
0x81080001)
same as Disparity 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.
8.1.3 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 𝑑 in pixels. To com-
pute 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
8.1. GigE Vision 2.0/GenICam image interface 126