Filtering regarding motion artifacts

[Astronomia-maker]

Hello.

I have O3R225 which mounted on AGV for our application. So i am currently facing an issue with proper filter setting of pointcloud.

I have two test scenario for the same object.

Test setup:-

2x Camera O3R225 on AGV. One is 63cm above ground and another is 1.78m above the ground. Both cameras view direction is same.

Test scenario 1:- AGV is not in drive mode stand still. So after cropping in interested region i am getting about 150 point (reducing by voxel size:- 0.02) for my pallet truck (object). Object is about 3m away from the camera. But this pallet truck has shiny surface so i am not getting any pointcloud for top shiny surface. How can i get pointcloud for this shiny surface also.

Test scenario 2:- AGV drives about 1.5 m/s and camera runs at 20 fps. But this i am getting only 30-40 points when object is about 1.4m near the AGV and when object is 3m aways i have about 10-20 points. And same issue regarding shiny surface.

So i am not getting pointcloud from cameras are in motions. Mostly i have pointcloud when camera is about 1.5m near the object.

Software version:-

• IFM firmware:- 1.0.14
• ifm3dpy ==1.3.3

below is my camera configuration.

{ "applications": { "classes": { "ods": { "instanceSchema": {}, "license": "UNLICENSED", "minimumFirmwareVersion": { "major": 0, "minor": 16, "patch": 3 }, "version": { "major": 0, "minor": 0, "patch": 0 } } } }, "device": { "clock": { "currentTime": 1581093180309812128, "sntp": { "active": true, "activeServerAddress": "", "activeServerName": "time3.google.com", "availableServers": [], "systemClockSynchronized": false } }, "diagnostic": { "confInitStages": [ "device", "ports", "applications" ], "temperatures": [ { "entity": "PLL-therm", "value": 50.5 }, { "entity": "MCPU-therm", "value": 50.5 }, { "entity": "PMIC-Die", "value": 100.0 }, { "entity": "Tboard_tegra", "value": 44.0 }, { "entity": "GPU-therm", "value": 45.0 }, { "entity": "BCPU-therm", "value": 50.5 }, { "entity": "thermal-fan-est", "value": 48.20000076293945 }, { "entity": "Tdiode_tegra", "value": 44.75 }, { "entity": "port2", "overtemperature": false, "temperatureLimit": 77, "valid": true, "value": 54 }, { "entity": "port3", "overtemperature": false, "temperatureLimit": 77, "valid": true, "value": 64 } ], "upTime": 2535000000000 }, "info": { "description": "", "device": "0302", "deviceTreeBinaryBlob": "tegra186-quill-p3310-1000-c03-00-base.dtb", "features": {}, "guiSettings": "", "name": "", "partNumber": "OVP800", "productionState": "AA", "serialNumber": "000030169190", "vendor": "0001" }, "log": { "components": {}, "level": "warn", "storage": "volatile" }, "network": { "authorized_keys": "", "interfaces": { "eth0": { "ipAddressConfig": 0, "ipv4": { "address": "10.100.100.31", "dns": "255.255.255.0", "gateway": "10.100.100.1", "mask": 24 }, "mac": "48:B0:2D:68:66:72", "networkSpeed": 0, "useDHCP": false }, "eth1": { "ipAddressConfig": 0, "mac": "00:02:01:43:E6:D6", "networkSpeed": 0, "useDHCP": true } } }, "status": "OPERATE", "swVersion": { "euphrates": "1.18.3", "firmware": "0.16.23-823", "kernel": "4.9.140-l4t-r32.4+g8c7b68130d9a", "l4t": "r32.4.3", "schema": "v1.4.1", "tcu": "1.0.4" } }, "ports": { "port0": { "acquisition": { "delay": 0, "framerate": 10.0, "version": { "major": 0, "minor": 0, "patch": 0 } }, "data": { "algoDebugConfig": { "version": { "major": 0, "minor": 13, "patch": 12 } }, "availablePCICOutput": [ "RGB_INFO" ], "pcicTCPPort": 50010 }, "info": { "calibration": { "version": { "major": 0, "minor": 1, "patch": 1 } }, "device": "2301", "deviceTreeBinaryBlobOverlay": "001-ov9782.dtbo", "features": { "fov": { "horizontal": 127, "vertical": 80 }, "resolution": { "height": 800, "width": 1280 }, "type": "2D" }, "icc": { "version": { "major": 0, "minor": 0, "patch": 0 } }, "name": "", "partNumber": "O3R225", "productionState": "AC", "sensor": "OV9782", "sensorID": "OV9782_127x80_noIllu_Csample", "serialNumber": "000031382187", "vendor": "0001", "version": { "major": 11, "minor": 1, "patch": 0 } }, "mode": "standard_autoexposure2D", "processing": { "extrinsicHeadToUser": { "rotX": 0.45, "rotY": 0.0, "rotZ": 0.0, "transX": -0.15, "transY": 1.74, "transZ": -0.07 }, "version": { "major": 0, "minor": 13, "patch": 12 } }, "state": "RUN" }, "port1": { "acquisition": { "delay": 0, "framerate": 10.0, "version": { "major": 0, "minor": 0, "patch": 0 } }, "data": { "algoDebugConfig": { "version": { "major": 0, "minor": 13, "patch": 12 } }, "availablePCICOutput": [ "RGB_INFO" ], "pcicTCPPort": 50011 }, "info": { "calibration": { "version": { "major": 0, "minor": 1, "patch": 1 } }, "device": "2301", "deviceTreeBinaryBlobOverlay": "001-ov9782.dtbo", "features": { "fov": { "horizontal": 127, "vertical": 80 }, "resolution": { "height": 800, "width": 1280 }, "type": "2D" }, "icc": { "version": { "major": 0, "minor": 0, "patch": 0 } }, "name": "", "partNumber": "O3R225", "productionState": "AC", "sensor": "OV9782", "sensorID": "OV9782_127x80_noIllu_Csample", "serialNumber": "000030329739", "vendor": "0001", "version": { "major": 11, "minor": 1, "patch": 0 } }, "mode": "standard_autoexposure2D", "processing": { "extrinsicHeadToUser": { "rotX": 0.0, "rotY": 0.0, "rotZ": 0.0, "transX": 0.0, "transY": 0.635, "transZ": 0.0 }, "version": { "major": 0, "minor": 13, "patch": 12 } }, "state": "RUN" }, "port2": { "acquisition": { "channelSelection": "manual", "channelValue": 5, "delay": 0, "exposureLong": 5000, "exposureShort": 400, "framerate": 20, "offset": 0.0, "swTriggerGroup": 0, "version": { "major": 0, "minor": 0, "patch": 0 } }, "data": { "algoDebugConfig": { "version": { "major": 0, "minor": 13, "patch": 12 } }, "availablePCICOutput": [ "TOF_INFO", "RADIAL_DISTANCE_NOISE", "RADIAL_DISTANCE_COMPRESSED", "REFLECTIVITY", "AMPLITUDE_COMPRESSED", "CONFIDENCE" ], "pcicTCPPort": 50012 }, "info": { "calibration": { "version": { "major": 0, "minor": 6, "patch": 1 } }, "device": "3101", "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo", "features": { "fov": { "horizontal": 105, "vertical": 78 }, "resolution": { "height": 172, "width": 224 }, "type": "3D" }, "icc": { "version": { "major": 1, "minor": 0, "patch": 6 } }, "name": "", "partNumber": "O3R225", "productionState": "AC", "sensor": "IRS2381C", "sensorID": "IRS2381C_105x78_4x2W_110x90_C7", "serialNumber": "000031382187", "vendor": "0001", "version": { "major": 11, "minor": 1, "patch": 0 } }, "mode": "standard_range4m", "processing": { "diParam": { "anfFilterSizeDiv2": 1, "dynamicSymmetryThreshold": 10, "enableTemporalFilter": true, "maxDistNoise": 0.05, "medianSizeDiv2": 2, "minAmplitude": 10, "minReflectivity": 0.1, "mixedPixelFilterMode": 1, "mixedPixelThresholdRad": 0.5 }, "extrinsicHeadToUser": { "rotX": 0.0, "rotY": 0.0, "rotZ": 3.14, "transX": 0.0, "transY": 0.635, "transZ": 0.015 }, "version": { "major": 0, "minor": 13, "patch": 12 } }, "state": "RUN" }, "port3": { "acquisition": { "channelSelection": "manual", "channelValue": 2, "delay": 0, "exposureLong": 5000, "exposureShort": 400, "framerate": 20, "offset": 0.0, "swTriggerGroup": 0, "version": { "major": 0, "minor": 0, "patch": 0 } }, "data": { "algoDebugConfig": { "version": { "major": 0, "minor": 13, "patch": 12 } }, "availablePCICOutput": [ "TOF_INFO", "RADIAL_DISTANCE_NOISE", "RADIAL_DISTANCE_COMPRESSED", "REFLECTIVITY", "AMPLITUDE_COMPRESSED", "CONFIDENCE" ], "pcicTCPPort": 50013 }, "info": { "calibration": { "version": { "major": 0, "minor": 6, "patch": 1 } }, "device": "3101", "deviceTreeBinaryBlobOverlay": "001-irs2381c.dtbo", "features": { "fov": { "horizontal": 105, "vertical": 78 }, "resolution": { "height": 172, "width": 224 }, "type": "3D" }, "icc": { "version": { "major": 1, "minor": 0, "patch": 6 } }, "name": "", "partNumber": "O3R225", "productionState": "AC", "sensor": "IRS2381C", "sensorID": "IRS2381C_105x78_4x2W_110x90_C7", "serialNumber": "000030329739", "vendor": "0001", "version": { "major": 11, "minor": 1, "patch": 0 } }, "mode": "standard_range4m", "processing": { "diParam": { "anfFilterSizeDiv2": 1, "dynamicSymmetryThreshold": 10, "enableTemporalFilter": true, "maxDistNoise": 0.05, "medianSizeDiv2": 2, "minAmplitude": 10, "minReflectivity": 0.1, "mixedPixelFilterMode": 1, "mixedPixelThresholdRad": 0.5 }, "extrinsicHeadToUser": { "rotX": 0.69, "rotY": 0.0, "rotZ": 3.14, "transX": 0.0, "transY": 1.775, "transZ": -0.02 }, "version": { "major": 0, "minor": 13, "patch": 12 } }, "state": "RUN" } } }

[dekhanra]

Hey @Astronomia-maker, we were currently testing this scenarios but it would be great to have a Algo-Debug data from your test scenarios. Could you please send us a mail to support.robotics@ifm.com with data and we can follow up on this issue.

[Astronomia-maker]

Hi @dekhanra, is this correct one for algo-debug Link? Or you have any example script for python?

[dekhanra]

To record Algo Debug data on ifmVisionAssistant, follow the instructions below.

1. Open ifmVisionAssistant and connect to the sensor.
2. Click on Monitor window and navigate to Recording tab under the visualization window.
3. Select the duration of recording (Record for 5 seconds or 1 min)
4. Click on the BUG icon to record Algo-Debug data
5. Finally click on Record icon to start the recording process.