Installation

Jacobi Vision

The Jacobi vision library provides drivers for simulated and real world cameras, tools for basic color image, depth image and point cloud manipulation, helpers for visualization in Studio, and enables collision-free motion planning based on sensor data together with the motion library. This guide will help you set up and use the Jacobi vision library.

The Jacobi vision library is available for Python only and can be pip installed easily:

pip install jacobi-vision

Besides image processing tools, it includes a simulated camera driver, which enables image generation in Studio, and a virtual camera driver, which allows you to load pre-recorded images from the file system.

Camera Drivers

This tutorial describes how to install our camera drivers, which are required for the Jacobi Vision library to work with real cameras. Currently, Jacobi provides drivers for Intel RealSense, Photoneo PhoXi, and Mech-Mind cameras.

Intel Realsense

On Ubuntu, install librealsense by following Intel’s official guide. If the kernel patching fails during the install, try to install libuvc-backend version of librealsense.

Then install our driver via:

pip install jacobi-realsense-camera-driver

Photoneo PhoXi 3D Scanner

First, download the PhoXi control software from the Photoneo website, extract the downloaded archive, and install it:

sudo chmod +x PhotoneoPhoXiControlInstaller-*.run
sudo ./PhotoneoPhoXiControlInstaller-*.run

Then install our PhoXi driver via:

PHOXI_CONTROL_PATH=/opt/Photoneo/PhoXiControl-*/ pip install jacobi-phoxi-camera-driver

while setting the PHOXI_CONTROL_PATH to the install directory. Depending on the installation, you might need to make the shared library of the PhoXi Control visible export LD_LIBRARY_PATH=/opt/Photoneo/PhoXiControl-*/API/lib/. In case, you might want to add this to your ~/.bashrc file to export the variable automatically.

On Ubuntu, PhoXi Control requires an Nvidia driver and OpenGL to run which can be enforced when starting the program:

__NV_PRIME_RENDER_OFFLOAD_PROVIDER=NVIDIA-G0 __GLX_VENDOR_LIBRARY_NAME=nvidia PhoXiControl

Mech-Mind

On Ubuntu, follow the official installation guide for the Mech-Eye SDK, and then install our driver via:

pip install jacobi-mech-mind-camera-driver