Components and Sources

An Ensenso stereo camera can produce different types of data:

• The Intensity image is an 8-bit monochrome, RGB or RGBA image directly from the sensor. In the NxLib this is called a texture image.

• The Range image contains the X, Y and Z coordinates of the measured 3D points in three float channels. This corresponds to the PointMap in the NxLib.

Components

The different types of data are represented as components in GenICam. They can be enabled or disabled individually when you only need a part of the data.

ComponentSelector

Type

Enumeration

Values

Intensity

Controls acquisition of the intensity image.

Range

Controls acquisition of the range image.

Selects the component to control. The selected component can then be enabled or disabled using ComponentEnable.

ComponentEnable

Selector

ComponentSelector

Type

Boolean

Whether the component selected by ComponentSelector gets acquired and streamed to the user.

The GenTL producer always sends the enabled components as a multi-part buffer, with the Intensity image as the first component. Intensity and Range component from the same acquisition are pixel-aligned and can be mapped to each other directly.

Acquisition of the Intensity component automatically uses the NxLib’s texture mode when the device doesn’t have a dedicated color sensor.

Sources

For cameras with a dedicated color sensor you can choose the perspective from which the data is generated.

Note

The GenTL producer exposes stereo cameras with a dedicated color sensor (e.g. C-series cameras) as a single device. This is different from the NxLib, where the color sensor is controlled on its own.

If you choose the texture camera you can get the original color image, but the point map has to be projected into that perspective and resampled to the resolution of the color sensor. If you choose the stereo camera you can get the original point map, but the texture image has to be resampled to the resolution of the point map. See this guide for more information on how this works in the NxLib.

SourceSelector

Type

Enumeration

Values

StereoCamera

The stereo camera computing the depth data.

TextureCamera

The texture (color) camera associated with the stereo camera.

Selects the reference perspective from which the data is generated.