Floating pointclouds #379
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Astronomia-maker
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Floating pointclouds
#379
Replies: 1 comment 4 replies
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Hej, @Astronomia-maker could you please provide more insights. What type of device you are using and what you mean by floating Point cloud. Maybe it is also worth to share your configuration and provide some details what you want to achieve. Maybe your point cloud can be stabilized by some settings |
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4 replies
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Hey, @graugans I have O3R225 and O3R222 camera with VPU. Floating points means the pixels data in pointcloud which does not belong to any object. E.g. I have pointclouds nearby the floor or somewhere between the object and camera meanwhile in reality there is no object. So these kind of points i have sometimes in pointclound data. By gathering these pointclouds data i want to detect the obstacle. My ultimate task is to detect the object in ROI. But due to these false points (which does not belong to any object) gives me false object detection. I have attached my camera configuration for your reference. {
"device": {
"clock": {
"currentTime": 1581090735780843104
},
"diagnostic": {
"temperatures": [
{
"entity": "PLL-therm",
"value": 30.0
},
{
"entity": "MCPU-therm",
"value": 30.0
},
{
"entity": "PMIC-Die",
"value": 100.0
},
{
"entity": "Tboard_tegra",
"value": 24.0
},
{
"entity": "GPU-therm",
"value": 27.0
},
{
"entity": "BCPU-therm",
"value": 30.0
},
{
"entity": "thermal-fan-est",
"value": 28.799999237060547
},
{
"entity": "Tdiode_tegra",
"value": 25.25
},
{
"entity": "port2",
"value": 35
},
{
"entity": "port3",
"value": 33
}
],
"upTime": 92000000000
},
"info": {
"description": "",
"device": "0301",
"deviceTreeBinaryBlob": "tegra186-quill-p3310-1000-c03-00-base.dtb",
"guiSettings": "",
"name": "",
"partNumber": "M03975",
"productionState": "AA",
"serialNumber": "00020142ABD6",
"vendor": "0001"
},
"log": {
"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:3A:67:8F",
"networkSpeed": 1000,
"useDHCP": False
},
"eth1": {
"ipAddressConfig": 1,
"mac": "00:02:01:42:AB:D6",
"networkSpeed": 10,
"useDHCP": True
}
}
},
"state": {
"errorMessage": "",
"errorNumber": ""
},
"swVersion": {
"euphrates": "1.4.3",
"firmware": "0.14.23-493",
"kernel": "4.9.140-l4t-r32.4+g1582a8a5405d",
"l4t": "r32.4.3",
"schema": "v0.2.4",
"tcu": "1.0.2"
}
},
"ports": {
"port0": {
"acquisition": {
"framerate": 10.0,
"version": {
"major": 0,
"minor": 0,
"patch": 0
}
},
"data": {
"algoDebugConfig": {
"channels": [
{
"id": "ov9782/ifcustom",
"type": "normal"
},
{
"id": "ov9782/profile",
"type": "normal"
},
{
"id": "ov9782/dbg",
"type": "normal"
},
{
"id": "ov9782/calib",
"type": "once"
},
{
"id": "ov9782/ifout",
"type": "normal"
},
{
"id": "ov9782/frameInfo",
"type": "normal"
}
],
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"availablePCICOutput": [
"RGB_INFO"
],
"pcicTCPPort": 50010
},
"info": {
"calibration": {
"version": {
"major": 0,
"minor": 1,
"patch": 0
}
},
"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": "M03969",
"productionState": "AA",
"sensor": "OV9782",
"sensorID": "OV9782_127x80_noIllu_Csample",
"serialNumber": "000000000821",
"vendor": "0001",
"version": {
"major": 11,
"minor": 1,
"patch": 0
}
},
"mode": "experimental_autoexposure2D",
"processing": {
"extrinsicHeadToUser": {
"rotX": 0.0,
"rotY": 0.0,
"rotZ": 0.0,
"transX": 0.0,
"transY": 0.0,
"transZ": 0.0
},
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"state": "RUN"
},
"port1": {
"acquisition": {
"framerate": 10.0,
"version": {
"major": 0,
"minor": 0,
"patch": 0
}
},
"data": {
"algoDebugConfig": {
"channels": [
{
"id": "ov9782/ifcustom",
"type": "normal"
},
{
"id": "ov9782/profile",
"type": "normal"
},
{
"id": "ov9782/dbg",
"type": "normal"
},
{
"id": "ov9782/calib",
"type": "once"
},
{
"id": "ov9782/ifout",
"type": "normal"
},
{
"id": "ov9782/frameInfo",
"type": "normal"
}
],
"version": {
"major": 0,
"minor": 11,
"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": "AB",
"sensor": "OV9782",
"sensorID": "OV9782_127x80_noIllu_Csample",
"serialNumber": "000019730604",
"vendor": "0001",
"version": {
"major": 11,
"minor": 1,
"patch": 0
}
},
"mode": "experimental_autoexposure2D",
"processing": {
"extrinsicHeadToUser": {
"rotX": 0.0,
"rotY": 0.0,
"rotZ": 0.0,
"transX": 0.0,
"transY": 0.0,
"transZ": 0.0
},
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"state": "RUN"
},
"port2": {
"acquisition": {
"channelSelection": "manual",
"channelValue": 0,
"exposureLong": 1500,
"exposureShort": 1000,
"framerate": 20.0,
"offset": 0.0,
"version": {
"major": 0,
"minor": 0,
"patch": 0
}
},
"data": {
"algoDebugConfig": {
"channels": [
{
"id": "irs2381/ifcustom",
"type": "normal"
},
{
"id": "irs2381/profile",
"type": "normal"
},
{
"id": "irs2381/dbg",
"type": "normal"
},
{
"id": "irs2381/calib",
"type": "once"
},
{
"id": "irs2381/ifout_compr",
"type": "normal"
},
{
"id": "irs2381/raw/mode",
"type": "normal"
},
{
"id": "irs2381/raw/0",
"type": "normal"
},
{
"id": "irs2381/raw/1",
"type": "normal"
},
{
"id": "irs2381/raw/2",
"type": "normal"
},
{
"id": "irs2381/raw/3",
"type": "normal"
},
{
"id": "irs2381/raw/4",
"type": "normal"
},
{
"id": "irs2381/raw/5",
"type": "normal"
},
{
"id": "irs2381/raw/6",
"type": "normal"
},
{
"id": "irs2381/raw/7",
"type": "normal"
},
{
"id": "irs2381/raw/8",
"type": "normal"
},
{
"id": "irs2381/raw/9",
"type": "normal"
},
{
"id": "irs2381/raw/10",
"type": "normal"
},
{
"id": "irs2381/raw/11",
"type": "normal"
},
{
"id": "irs2381/raw/12",
"type": "normal"
},
{
"id": "irs2381/raw/13",
"type": "normal"
},
{
"id": "irs2381/raw/14",
"type": "normal"
},
{
"id": "irs2381/raw/15",
"type": "normal"
}
],
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"availablePCICOutput": [
"TOF_INFO",
"RADIAL_DISTANCE_NOISE",
"RADIAL_DISTANCE_COMPRESSED",
"REFLECTIVITY",
"AMPLITUDE_COMPRESSED",
"CONFIDENCE"
],
"pcicTCPPort": 50012
},
"info": {
"calibration": {
"version": {
"major": 0,
"minor": 4,
"patch": 2
}
},
"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": 4
}
},
"name": "",
"partNumber": "M03969",
"productionState": "AA",
"sensor": "IRS2381C",
"sensorID": "IRS2381C_105x78_4x2W_110x90_C7",
"serialNumber": "000000000821",
"vendor": "0001",
"version": {
"major": 11,
"minor": 1,
"patch": 0
}
},
"mode": "standard_range4m",
"processing": {
"diParam": {
"anfFilterSizeDiv2": 2,
"dynamicSymmetryThreshold": 20.0,
"enableTemporalFilter": True,
"maxDistNoise": 0.0,
"medianSizeDiv2": 0,
"minAmplitude": 30.0,
"minReflectivity": 2.0,
"mixedPixelFilterMode": 1,
"mixedPixelThresholdRad": 0.5
},
"extrinsicHeadToUser": {
"rotX": 0.45,
"rotY": 0.0,
"rotZ": 0.0,
"transX": -0.08,
"transY": 1.77,
"transZ": 0.0
},
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"state": "RUN"
},
"port3": {
"acquisition": {
"channelSelection": "manual",
"channelValue": 0,
"exposureLong": 1500,
"exposureShort": 1000,
"framerate": 20.0,
"offset": 0.0,
"version": {
"major": 0,
"minor": 0,
"patch": 0
}
},
"data": {
"algoDebugConfig": {
"channels": [
{
"id": "irs2381/ifcustom",
"type": "normal"
},
{
"id": "irs2381/profile",
"type": "normal"
},
{
"id": "irs2381/dbg",
"type": "normal"
},
{
"id": "irs2381/calib",
"type": "once"
},
{
"id": "irs2381/ifout_compr",
"type": "normal"
},
{
"id": "irs2381/raw/mode",
"type": "normal"
},
{
"id": "irs2381/raw/0",
"type": "normal"
},
{
"id": "irs2381/raw/1",
"type": "normal"
},
{
"id": "irs2381/raw/2",
"type": "normal"
},
{
"id": "irs2381/raw/3",
"type": "normal"
},
{
"id": "irs2381/raw/4",
"type": "normal"
},
{
"id": "irs2381/raw/5",
"type": "normal"
},
{
"id": "irs2381/raw/6",
"type": "normal"
},
{
"id": "irs2381/raw/7",
"type": "normal"
},
{
"id": "irs2381/raw/8",
"type": "normal"
},
{
"id": "irs2381/raw/9",
"type": "normal"
},
{
"id": "irs2381/raw/10",
"type": "normal"
},
{
"id": "irs2381/raw/11",
"type": "normal"
},
{
"id": "irs2381/raw/12",
"type": "normal"
},
{
"id": "irs2381/raw/13",
"type": "normal"
},
{
"id": "irs2381/raw/14",
"type": "normal"
},
{
"id": "irs2381/raw/15",
"type": "normal"
}
],
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"availablePCICOutput": [
"TOF_INFO",
"RADIAL_DISTANCE_NOISE",
"RADIAL_DISTANCE_COMPRESSED",
"REFLECTIVITY",
"AMPLITUDE_COMPRESSED",
"CONFIDENCE"
],
"pcicTCPPort": 50013
},
"info": {
"calibration": {
"version": {
"major": 0,
"minor": 5,
"patch": 2
}
},
"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": 4
}
},
"name": "",
"partNumber": "O3R225",
"productionState": "AB",
"sensor": "IRS2381C",
"sensorID": "IRS2381C_105x78_4x2W_110x90_C7",
"serialNumber": "000019730604",
"vendor": "0001",
"version": {
"major": 11,
"minor": 1,
"patch": 0
}
},
"mode": "standard_range4m",
"processing": {
"diParam": {
"anfFilterSizeDiv2": 2,
"dynamicSymmetryThreshold": 20.0,
"enableTemporalFilter": True,
"maxDistNoise": 0.0,
"medianSizeDiv2": 0,
"minAmplitude": 30.0,
"minReflectivity": 2.0,
"mixedPixelFilterMode": 1,
"mixedPixelThresholdRad": 0.5
},
"extrinsicHeadToUser": {
"rotX": 0.0,
"rotY": 0.0,
"rotZ": 0.0,
"transX": 0.0,
"transY": 0.65,
"transZ": 0.0
},
"version": {
"major": 0,
"minor": 11,
"patch": 12
}
},
"state": "RUN"
}
}
}``` |
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I guess @lola-masson can help here, I am pretty sure there is some documentation how to mitigate this. |
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Hey @Astronomia-maker,
To give you more details, we would need to look at data together (we can schedule a call to check things live, just send an email to support.robotics@ifm.com). |
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Hello, @lola-masson, I have sent an email on suggested email address. It would be better if we can schedule a call and try to resolve this problem. |
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I have question regarding the floating pointclouds in captured 3D data. Has anyone faced same issue and if then how did you resolve it? Please let me know. I am totally newbie in this field.
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