Wrist Camera Live Image

Kaleb_Rodes

Can we see the live image from the wrist camera when it’s trying to locate the part?

On the UR teach pendant and/or externally (e.g. computer screen)?

PierreOlivier_Proulx

@Kaleb_Rodes On the teach pendant that is not possible, you can only have the annotated image that was processed for the part detection.

However from an external pc you can have the live image from a web browser. There are two use cases:

1. The robot program is not running. In this case you can access the image from this uri
   
   <pre class="CodeBlock"><code>http://<robot_ip_address>:4242/current.jpg?annotations=<on|off>
2. The program is running. In this case, before accessing the image as in 1., you must issue this command to the vision server:
   
   <pre class="CodeBlock"><code>http://<robot_ip_address>:4242/captureimage

You can use your browser with an autorefresh plugin to automatically send the commands. The result is however not really 'live'. The is a large delay.

Enric

@PierreOlivier_Proulx
So we can see the image in real time, but is it possible to export the image at *.jpg format of each of the photos that the "Camera Locate" instruction generates?

Thanks in advance.

PierreOlivier_Proulx

No, not automatically. To do that you would have to monitor when a camera locate is called and get the image from its uri. 

dasruge

PierreOlivier_Proulx said:

No, not automatically. To do that you would have to monitor when a camera locate is called and get the image from its uri. 

Could you explain how it would be???
What is an uri?
Thanks in advance!!

PierreOlivier_Proulx

The URI is the address i.e.

http://<robot_ip_address>:4242/current.jpg?annotations=<on|off>

You would have to externally monitor when a camera locate instruction is hit. For example, you could write a value in a modbus register  inside a camera locate, and have an external process (e.g. a python script) that monitors that register. When the external process receives the signal, it fetches the image at the URI above and it stores the image somewhere.

Does it answer your question?

jofeloba

Is this still working in version 1.3.0?

Our program now crashes the robot program (and did not in the past). The error is "XMLRPC: Failed with error code 2: findmodel".

Any way to solve this?

Jens

So you just have to connect the robot Controller via ethernet with your pc and use the commands above in your browser or how is this supposed to work?
Tried to get the Image on the pc but couldnt really make it work. Using the command http://<robot_ip_address>:4242/captureimage it says:
{
    "code": 2,
    "error": "Unknown request.",
    "status": "failed"
}
Is there a way to get this working?

Mario_Laframboise

For 1.3.0 you can get the current camera image in a web browser using the following commands :

http://<robot_ip_address>:4242/current.jpg?type=color
http://<robot_ip_address>:4242/current.jpg?type=edges
http://<robot_ip_address>:4242/current.jpg?type=magnitude
http://<robot_ip_address>:4242/current.jpg?type=annotations

Jens

Is it possible to get the camera Image in a higher resolution? For me its only 616x463 pixel.
I wonder if I can control the camera via uri. Like turning the lights on and focussing? Or is there maybe another way of controlling the camera via pc? 

I am trying to get a usable image out of the camera to use it in our software. So we would like to use the robotiq camera hardware but with our own software. Is that possible anyhow? 

David_Gariepy

Hi Jens, 
Unfortunately, it is not possible. There is no API available for the camera so you can not control the resolution or the LED. 

casmann

@Mario_Laframboise
 I just got a robotiq wrist camera, and used the link http://<robot_ip_address>:4242/current.jpg?type=color with my robots ip address, but nothing showed up, my browser wasn't able to connect. I can see the image fine on the tablet and it says the vision system is functional, but I can't view the camera output from my computer. Is it possible it has changed in a new version?

I am using the urcap version 1.8 with the wrist camera with a ur5e robot.

Mario_Laframboise

@Casmann Can you still ping the robot ? The request hasn't changed in the newer versions.

casmann

Sorry, it seems like I was just having network issues earlier, and after restarting the robot, I can now connect and see the image fine.