package Kinova.Api.VisionConfig

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Service to configure the Vision Module

@PROXY_ID=5 @ERROR=Kinova.Api.Error

• rpc SetSensorSettings (SensorSettings, Common.Empty)

  VisionConfig.proto:23

  Sets sensor settings (resolution, frame rate, etc)

  @RPC_ID=1

• rpc GetSensorSettings (SensorIdentifier, SensorSettings)

  VisionConfig.proto:26

  Retrieves sensor settings (resolution, frame rate, etc)

  @RPC_ID=2

• rpc GetOptionValue (OptionIdentifier, OptionValue)

  VisionConfig.proto:29

  Retrieves option value from the sensor

  @RPC_ID=3

• rpc SetOptionValue (OptionValue, Common.Empty)

  VisionConfig.proto:32

  Writes new value to sensor option

  @RPC_ID=4

• rpc GetOptionInformation (OptionIdentifier, OptionInformation)

  VisionConfig.proto:35

  Retrieves option information from the sensor

  @RPC_ID=5

  message OptionInformation

  VisionConfig.proto:133

  Information about the optional settings for the chosen sensor

  • Sensor sensor = 1

    The sensor (color or depth)

  • Option option = 2

    The option

  • bool supported = 3

    Is the option supported by the chosen sensor?

  • bool read_only = 4

    Is the option read-only, or can it be changed?

  • float minimum = 5

    Minimum value for the option

  • float maximum = 6

    Maximum value for the option

  • float step = 7

    Step size for the option value (if it takes on discrete values)

  • float default_value = 8

    Default value for the option

• rpc VisionTopic (Common.NotificationOptions, Common.NotificationHandle)

  VisionConfig.proto:38

  Subscribes to Vision configuration notifications

  @RPC_ID=6 @PUB_SUB=VisionNotification

• rpc DoSensorFocusAction (SensorFocusAction, Common.Empty)

  VisionConfig.proto:41

  Do a focus action

  @RPC_ID=7

  message SensorFocusAction

  VisionConfig.proto:192

  Focus action to perform for the specified sensor

  • Sensor sensor = 1

    The sensor on which to perform the focus action

  • FocusAction focus_action = 2

    The focus action to perform on the sensor

  • oneof action_parameters

    • FocusPoint focus_point = 3

      The X-Y point on which to focus

    • ManualFocus manual_focus = 4

      The manual focus abstract value

• rpc GetIntrinsicParameters (SensorIdentifier, IntrinsicParameters)

  VisionConfig.proto:44

  Retrieves sensor intrinsic parameters

  @RPC_ID=8

• rpc GetIntrinsicParametersProfile (IntrinsicProfileIdentifier, IntrinsicParameters)

  VisionConfig.proto:47

  Retrieves sensor intrinsic parameters for a specific profile

  @RPC_ID=9

  message IntrinsicProfileIdentifier

  VisionConfig.proto:114

  Intrisic parameters profile to retrieve

  • Sensor sensor = 1

    Sensor

  • Resolution resolution = 2

    Resolution

• rpc SetIntrinsicParameters (IntrinsicParameters, Common.Empty)

  VisionConfig.proto:50

  Sets sensor intrinsic parameters

  @RPC_ID=10

• rpc GetExtrinsicParameters (Common.Empty, ExtrinsicParameters)

  VisionConfig.proto:53

  Retrieves sensor extrinsic parameters

  @RPC_ID=11

• rpc SetExtrinsicParameters (ExtrinsicParameters, Common.Empty)

  VisionConfig.proto:56

  Sets sensor extrinsic parameters

  @RPC_ID=12

Maximum encoded bit rate, in Mbps

Used in: SensorSettings

• BITRATE_UNSPECIFIED = 0

  Unspecified bit rate (supported on depth sensor only)

• BITRATE_10_MBPS = 1

  10 Mbps maximum bit rate (supported on color sensor only)

• BITRATE_15_MBPS = 2

  15 Mbps maximum bit rate (supported on color sensor only)

• BITRATE_20_MBPS = 3

  20 Mbps maximum bit rate (supported on color sensor only)

• BITRATE_25_MBPS = 4

  25 Mbps maximum bit rate (supported on color sensor only)

Distortion coefficients for sensor intrinsic parameters

Used in: IntrinsicParameters

• float k1 = 1

  First radial distortion coefficient

• float k2 = 2

  Second radial distortion coefficient

• float k3 = 3

  Third radial distortion coefficient

• float p1 = 4

  First tangential distortion coefficient

• float p2 = 5

  Second tangential distortion coefficient

Sensor extrinsic parameters

Used as request type in: VisionConfig.SetExtrinsicParameters

Used as response type in: VisionConfig.GetExtrinsicParameters

• optional RotationMatrix rotation = 1

  The rotation matrix from depth sensor reference frame to color sensor reference frame

• optional TranslationVector translation = 2

  The translation vector from depth sensor reference frame to color sensor reference frame

Focus action to perform (start/pause continuous, focus now, disable). Supported only with Color sensor.

Used in: SensorFocusAction

• FOCUSACTION_UNSPECIFIED = 0

  Unspecified focus action

• FOCUSACTION_START_CONTINUOUS_FOCUS = 1

  Start continuous focus

• FOCUSACTION_PAUSE_CONTINUOUS_FOCUS = 2

  Pause continuous focus

• FOCUSACTION_FOCUS_NOW = 3

  Focus now (single-shot)

• FOCUSACTION_DISABLE_FOCUS = 4

  Disable focus

• FOCUSACTION_SET_FOCUS_POINT = 5

  Set a focus point

• FOCUSACTION_SET_MANUAL_FOCUS = 6

  Set the manual focus distance

Focus point in the X-Y coordinates of the image

Used in: SensorFocusAction

• uint32 x = 1

  Pixel value on the X axis, between 0 and the current resolution width - 1

• uint32 y = 2

  Pixel value on the Y axis, between 0 and the current resolution height - 1

Sensor frame rate

Used in: SensorSettings

• FRAMERATE_UNSPECIFIED = 0

  Unspecified frame rate

• FRAMERATE_6_FPS = 1

  6 frames per second (supported on depth sensor only)

• FRAMERATE_15_FPS = 2

  15 frames per second

• FRAMERATE_30_FPS = 3

  30 frame per second

Sensor intrinsic parameters

Used as request type in: VisionConfig.SetIntrinsicParameters

Used as response type in: VisionConfig.GetIntrinsicParameters, VisionConfig.GetIntrinsicParametersProfile

• Sensor sensor = 1

  The sensor for which the parameters apply to

• Resolution resolution = 2

  The resolution for which the parameters apply to

• float principal_point_x = 3

  Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge

• float principal_point_y = 4

  Vertical coordinate of the principal point of the image, as a pixel offset from the top edge

• float focal_length_x = 5

  Focal length of the image plane, as a multiple of pixel width

• float focal_length_y = 6

  Focal length of the image plane, as a multiple of pixel height

• optional DistortionCoefficients distortion_coeffs = 7

  Distortion coefficients

Abstract value that affects the focus distance

Used in: SensorFocusAction

• uint32 value = 1

  Abstract value allowing to change the focus distance, between 0 (infinity) and 1023 (close plane)

Admissible vision module sensor options. Note that some options are only available for the color sensor and some are only available for the depth sensor.

Used in: OptionIdentifier, OptionInformation, OptionValue, VisionNotification

• OPTION_UNSPECIFIED = 0

  Unspecifed Option

• OPTION_BACKLIGHT_COMPENSATION = 1

  Enable / disable color backlight compensation (unsupported)

• OPTION_BRIGHTNESS = 2

  Color image brightness (supported on color sensor only: -4.0 to 4.0, step 1.0)

• OPTION_CONTRAST = 3

  Color image contrast (supported on color sensor only: -4.0 to 4.0, step 1.0)

• OPTION_EXPOSURE = 4

  Controls exposure time of color camera. Setting any value will disable auto exposure (supported on depth sensor only: 20.0 to 166000.0, step 20.0)

• OPTION_GAIN = 5

  Color image gain (supported on depth sensor only: 16.0 to 248.0, step 1.0)

• OPTION_GAMMA = 6

  Color image gamma setting (unsupported)

• OPTION_HUE = 7

  Color image hue (unsupported)

• OPTION_SATURATION = 8

  Color image saturation setting (supported on color sensor only: -4.0 to 4.0, step 1.0)

• OPTION_SHARPNESS = 9

  Color image sharpness setting (unsupported)

• OPTION_WHITE_BALANCE = 10

  Controls white balance of color image. Setting any value will disable auto white balance (unsupported)

• OPTION_ENABLE_AUTO_EXPOSURE = 11

  Enable / disable color image auto-exposure (supported on depth sensor only: 0.0 to 1.0, step 1.0)

• OPTION_ENABLE_AUTO_WHITE_BALANCE = 12

  Enable / disable color image auto-white-balance (unsupported)

• OPTION_VISUAL_PRESET = 13

  Provide access to several recommend sets of option presets for the depth camera (supported on depth sensor only: 0.0 to 5.0, step 1.0)

• OPTION_LASER_POWER = 14

  Power of the projector, with 0 meaning projector off (unsupported)

• OPTION_ACCURACY = 15

  Sets the number of patterns projected per frame. The higher the accuracy value the more patterns projected (unsupported)

• OPTION_MOTION_RANGE = 16

  Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range (unsupported)

• OPTION_FILTER_OPTION = 17

  Sets the filter to apply to each depth frame. Each one of the filter is optimized per the application requirements (unsupported)

• OPTION_CONFIDENCE_THRESHOLD = 18

  The confidence level threshold used by the Depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range (unsupported)

• OPTION_EMITTER_ENABLED = 19

  Laser Emitter enabled (unsupported)

• OPTION_FRAMES_QUEUE_SIZE = 20

  Number of frames the user is allowed to keep per stream. Trying to hold-on to more frames will cause frame-drops (supported on depth sensor only: 0.0 to 32.0, step 1.0)

• OPTION_TOTAL_FRAME_DROPS = 21

  Total number of detected frame drops from all streams (unsupported)

• OPTION_AUTO_EXPOSURE_MODE = 22

  Auto-Exposure modes: Static, Anti-Flicker and Hybrid (unsupported)

• OPTION_POWER_LINE_FREQUENCY = 23

  Power Line Frequency control for anti-flickering Off/50Hz/60Hz/Auto (unsupported)

• OPTION_ASIC_TEMPERATURE = 24

  Current Asic Temperature (supported on depth sensor only: Read Only -40.0 to 125.0)

• OPTION_ERROR_POLLING_ENABLED = 25

  Disable error handling (supported on depth sensor only: 0.0 to 1.0, step 1.0)

• OPTION_PROJECTOR_TEMPERATURE = 26

  Current Projector Temperature (unsupported)

• OPTION_OUTPUT_TRIGGER_ENABLED = 27

  Enable / disable trigger to be outputed from the camera to any external device on every depth frame (supported on depth sensor only: 0.0 to 1.0, step 1.0)

• OPTION_MOTION_MODULE_TEMPERATURE = 28

  Current Motion-Module Temperature (unsupported)

• OPTION_DEPTH_UNITS = 29

  Number of meters represented by a single depth unit (supported on depth sensor only: 0.0001 to 0.0100, step 0.000001)

• OPTION_ENABLE_MOTION_CORRECTION = 30

  Enable/Disable automatic correction of the motion data (unsupported)

• OPTION_AUTO_EXPOSURE_PRIORITY = 31

  Allows sensor to dynamically ajust the frame rate depending on lighting conditions (unsupported)

• OPTION_COLOR_SCHEME = 32

  Color scheme for data visualization (unsupported)

• OPTION_HISTOGRAM_EQUALIZATION_ENABLED = 33

  Perform histogram equalization post-processing on the depth data (unsupported)

• OPTION_MIN_DISTANCE = 34

  Minimal distance to the target (unsupported)

• OPTION_MAX_DISTANCE = 35

  Maximum distance to the target (unsupported)

• OPTION_TEXTURE_SOURCE = 36

  Texture mapping stream unique ID (unsupported)

• OPTION_FILTER_MAGNITUDE = 37

  The 2D-filter effect. The specific interpretation is given within the context of the filter (unsupported)

• OPTION_FILTER_SMOOTH_ALPHA = 38

  2D-filter parameter controls the weight/radius for smoothing (unsupported)

• OPTION_FILTER_SMOOTH_DELTA = 39

  2D-filter range/validity threshold (unsupported)

• OPTION_HOLES_FILL = 40

  Enhance depth data post-processing with holes filling where appropriate (unsupported)

• OPTION_STEREO_BASELINE = 41

  The distance in mm between the first and the second imagers in stereo-based depth cameras (supported on depth sensor only: 55.241055 to 55.241055, step 0.0)

• OPTION_AUTO_EXPOSURE_CONVERGE_STEP = 42

  Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm (unsupported)

Sensor and the option to configure

Used as request type in: VisionConfig.GetOptionInformation, VisionConfig.GetOptionValue

• Sensor sensor = 1

  The sensor to configure

• Option option = 2

  The option to configure on the sensor

Value of the particular option for the sensor

Used as request type in: VisionConfig.SetOptionValue

Used as response type in: VisionConfig.GetOptionValue

• Sensor sensor = 1

  The sensor to configure (color or depth)

• Option option = 2

  The option to configure

• float value = 3

  The desired value for the option

Sensor resolution. Note that some settings are only for the color sensor and some are only for the depth sensor.

Used in: IntrinsicParameters, IntrinsicProfileIdentifier, SensorSettings

• RESOLUTION_UNSPECIFIED = 0

  Unspecified resolution

• RESOLUTION_320x240 = 1

  320 x 240 pixels (supported on color sensor only)

• RESOLUTION_424x240 = 2

  424 x 240 pixels (supported on depth sensor only)

• RESOLUTION_480x270 = 3

  480 x 270 pixels (supported on depth sensor only)

• RESOLUTION_640x480 = 4

  640 x 480 pixels (supported on color sensor only)

• RESOLUTION_1280x720 = 5

  1280 x 720 pixels (HD) (supported on color sensor only)

• RESOLUTION_1920x1080 = 6

  1920 x 1080 pixels (full HD) (supported on color sensor only)

Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal (the rows must each have norm of 1 and the row vectors must be orthogonal to each other). The determinant must also be +1.

Used in: ExtrinsicParameters

• optional RotationMatrixRow row1 = 1

  First rotation matrix row

• optional RotationMatrixRow row2 = 2

  Second rotation matrix row

• optional RotationMatrixRow row3 = 3

  Third rotation matrix row

Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 (the sum of the squares of the row elements has to equal 1).

Used in: RotationMatrix

• float column1 = 1

  Value between -1.0 and 1.0

• float column2 = 2

  Value between -1.0 and 1.0

• float column3 = 3

  Value between -1.0 and 1.0

Vision module sensor to configure

Used in: IntrinsicParameters, IntrinsicProfileIdentifier, OptionIdentifier, OptionInformation, OptionValue, SensorFocusAction, SensorIdentifier, SensorSettings, VisionNotification

• SENSOR_UNSPECIFIED = 0

  Unspecified Sensor

• SENSOR_COLOR = 1

  Select the Vision module color sensor

• SENSOR_DEPTH = 2

  Select the Vision module depth sensor

Sensor to configure

Used as request type in: VisionConfig.GetIntrinsicParameters, VisionConfig.GetSensorSettings

• Sensor sensor = 1

  Sensor

Main sensor settings - resolution, frame rate, bit rate - for the chosen sensor (color or depth).

Used as request type in: VisionConfig.SetSensorSettings

Used as response type in: VisionConfig.GetSensorSettings

• Sensor sensor = 1

  The sensor (color or depth)

• Resolution resolution = 2

  The resolution setting

• FrameRate frame_rate = 3

  Frame rate setting

• BitRate bit_rate = 4

  Maximum encoded bit rate

Identifies VisionConfig service current version

• RESERVED_0 = 0

  Reserved

• CURRENT_VERSION = 1

  Current version

Provides a 3x1 translation vector configuration

Used in: ExtrinsicParameters

• float t_x = 1

  Translation in meters in the x axis

• float t_y = 2

  Translation in meters in the y axis

• float t_z = 3

  Translation in meters in the z axis

Admissible Vision module events.

Used in: VisionNotification

• UNSPECIFIED_VISION_EVENT = 0

  Unspecified vision event

• SENSOR_SETTINGS_CHANGED = 1

  Sensor setting changed event

• OPTION_VALUE_CHANGED = 2

  Option value changed event

Notification about a single vision module event

• VisionEvent event = 1

  Vision event

• Sensor sensor = 2

  The sensor that caused the notification (if applicable)

• Option option = 3

  The option that caused the notification (if applicable)