1. Camera connection

• Use a network cable to connect the Camera and the industrial computer, turn on the Camera power, then click the Camera panel on the main interface to open the Camera interface

• On the Camera interface, select the Camera brand you want to connect to. You can choose from XEMA, FINCH, SPARROW, KINGFISHER, or KINGFISHER-R. Then click Search for the current brand Camera or a previously connected Camera to connect to the Camera with the corresponding IP address.

Please note when connecting KingfisherCamera:

Before connecting to KingfisherCamera, please refer to [KINGFISHER Series Camera User Manual] (../相机使用手册/KINGFISHER系列相机使用手册.md) to download and install the MVS software. Please download and install MVS first and then Download and install PickWiz, otherwise KingfisherCamera may not be found in the Camera brand.

If you download and install PickWiz first and then download and install MVS, KingfisherCamera may not be found in the Camera brand. Please restart and then open PickWiz.

You can also directly enter the IP address of the Camera and click the Connect Camera button.

• After the Camera is successfully connected, you should select Camera for the current Task in the Task Information interface. After selecting Camera, the Camera connection status in the status bar changes to "Connected", as shown in the figure below.

2. Camera configuration

• Each Camera has multiple default configurations, and all default configurations cannot be changed. Select the corresponding default configuration, click "Trigger photo", use the imaging parameter to capture 2D images, Point Cloud images, and Depth images. You can check the imaging quality in the visualization window on the left.

• The default camera configuration cannot be changed. If all 2D images taken with the default configuration cannot achieve normal exposure, you can click + to copy the current Camera default configuration, add an identical Camera configuration, and directly enter the Camera configuration interface to modify Parameter.

After copying the current Camera default configuration, you can switch to the new Camera configuration, click the Settings button , and enter the Camera configuration interface to modify Parameter.

Click — to delete the newly added Camera configuration.

• Click Save Image to save the 2D image, Point Cloud image, and Depth image taken using the current configuration to the local machine, as shown in the figure below. The saving path is the project folder/config/camera/image/shooting time. The suffix is ​​bmp for the 2D image, the suffix for the ply is for the Point Cloud image, and the suffix for the tiff is for the Depth image.

• Click View Intrinsic Parameter to view CameraIntrinsic Parameter, including lens focal length, principal point coordinates, distortion coefficient, etc.

• Click Disconnect to disconnect the Camera and re-select the Camera connection.

2.1 Import Camera configuration

Enter the Camera configuration interface and click Import Camera Configuration to import the existing Camera configuration into the Camera.

2.2 function operation

The Camera configuration interface has the following functions:

• Show overexposed areas

After turning on Show overexposure area, the visualization window will display the overexposure area of ​​the current image, as shown in the figure below.

• Trigger photo

Click Trigger Photography to shoot 2D images, Point Cloud images, and Depth images using the current Camera configuration. You can check the imaging quality of the current Camera configuration in the visualization window.

• Continuous collection

Click Continuous Acquisition and the Camera will take pictures continuously. Click Cancel Acquisition to stop taking pictures.

• save image

Click Save Image to save the captured 2D image, Point Cloud image, and Depth image

• Camera accuracy

Click Camera Accuracy to view and verify Camera accuracy

2.3 Camera accuracy

2.3.1 View Camera accuracy

• Place the Calibration Board within the Camera's field of view, click Camera Accuracy in the Camera configuration interface, and the Camera Accuracy interface will appear, as shown in the figure below

• Select the corresponding Calibration Board. If the selected Calibration Board does not match the actual one, a pop-up warning "Please check the Calibration Board type" will pop up, as shown in the figure below. If the Calibration Board type is A3, a pop-up warning will pop up.

• After selecting the correct Calibration Board type, click View Camera Accuracy, and PickWiz will automatically calculate the Camera accuracy of the current Camera. If the Camera accuracy meets the requirements, directly adjust the Camera imaging Parameter; if the Camera accuracy is too large, a prompt box will pop up saying "The error is too large, it is recommended to correct the Camera accuracy."

Camera accuracy of each series of cameras<Xmm indicates that the accuracy meets the requirements

XEMA-D:0.2mm

XEMA-S:0.2mm

XEMA-L:0.5mm

FINCH:0.8mm

SPARROW:0.2mm

KINGFISHER:0.8mm

2.3.2 Calibrate Camera accuracy

During the actual use of the Camera and after the Extrinsic Parameter is corrected, it is necessary to verify whether the accuracy of the current Camera meets the requirements.

Check the Camera accuracy. If the Camera accuracy error is abnormal, the Camera accuracy should be corrected;

The Point Cloud captured by the current Camera has large fluctuations, and the Camera accuracy should be corrected.

Before correcting the camera accuracy, you should turn on `Show overexposure area' to check the exposure level of the Camera imaging. If there is an overexposed area, adjust the exposure time of the single exposure to ensure that the Camera imaging exposure is normal.

After the correction is completed, the Camera imaging Parameter should be switched back to its original configuration.

• Click Camera Precision in the Camera configuration interface

• Select the corresponding Calibration Board. If the selected Calibration Board does not match the actual one, a pop-up warning "Please check the Calibration Board type" will pop up. As shown in the figure below, the actual Calibration Board type is A4. If the Calibration Board type is A3, a pop-up warning will appear.

• After selecting the correct Calibration Board type, click Calibrate Camera Accuracy

• Place the Calibration Board horizontally in the center of the Camera's field of view, click "Add Sample", and the Camera will start sampling and verifying the sample. If the collected sample passes the verification, it will be added under "Collect Sample", as shown in the figure below.

Click Sample x to view the collected samples. The centers of all concentric circles on the Calibration Board of samples that pass the verification turn green.

• Move the Calibration Board to the 4 corners within the Camera's field of view to add new samples

Place the Calibration Board at an angle at each corner. Place the Calibration Board at an angle of 15-30°. The tilt angle should not be too large or too small.

• After adding 5 samples, click Calculate Correction Results

• After the correction is completed, a prompt box will pop up "Camera accuracy correction is completed. The correction accuracy is x and the error is normal. Do you want to overwrite the current CameraParameter configuration?"

If you choose to overwrite the current CameraParameter configuration, the Camera accuracy correction results will be updated to the Camera, and you need to restart the Camera to take effect.

3. Camera parameter adjustment

The default Camera configuration cannot adjust the CameraParameter. The newly added Camera configuration needs to adjust the CameraParameter to ensure that the Camera image is clear and the exposure is normal.

3.1 Required Parameter

3.1.1 engine mode

Engine Mode	Description
General	Applies to general Target
Highly reflective	Suitable for highly reflective Target
Black	Available for Black Target

3.1.2 exposure type

(1)Single exposure

Single exposure can be used for ordinary texture Targets.

(2) High Dynamic

For highly reflective targets, you can use the HDR function for Point Cloud fusion.

High Dynamic Range Imaging (HDRI or HDR for short) is a set of technologies used to achieve a larger exposure dynamic range (that is, a greater difference between light and dark) than ordinary digital imaging technology.

High dynamic makes the image more distinct and the difference between light and dark obvious (especially when facing reflective targets).

Parameter adjustment suggestions: When using high dynamics, you can select the number of high dynamic exposures according to the specific Scene and Target. The value range is 2~6, and the default is 2. If the 3DPoint Cloud quality and 2D image quality are poor, the number of groups should be increased to expose the object multiple times to achieve the best imaging quality.

It is recommended to use fewer high dynamic exposures while meeting Point Cloud quality.

(3) Repeated exposure

For the black Target, you can use repeated exposure to optimize the Point Cloud through multiple exposures.

The number of times the camera needs to repeat shooting is to improve the signal-to-noise ratio (the ratio of signal to noise). The higher the signal-to-noise ratio, the better. In this way, random noise will be suppressed and effective information will be added. The value range is 0~10.

3.1.3 exposure time

Camera exposure time: Exposure time is the time it takes for the reflected light from the scene to reach the imaging photosensitive material through the lens and the shutter to open. The longer the exposure time, the more light comes in. If the exposure time is too long, overexposure will occur, which will affect the Point Cloud. The size should be adjusted based on the actual situation.

Range: 1700-100000

Exposure time and projection brightness are one group, and the number of high dynamic exposures is one group. Set the appropriate exposure time and projection brightness value for each group.

**Exposure time: **Exposure time is the time for light to enter the Camera when the Camera shutter is open. The longer the exposure time, the more light enters and the clearer the image.

If the exposure time is too long, overexposure will occur. You can turn on "Show overexposure area". The red part is the overexposure area.

3.1.4 projection brightness

Projection brightness refers to the intensity of the projection light. The greater the light intensity, the brighter and clearer the image. Within a certain range, the human eye will feel that the image is clearer because of the high brightness. If it exceeds this limit, excessive brightness will make it impossible to see the image clearly.

Range: 0-1023

The larger the value, the brighter the projection, which can effectively improve the signal-to-noise ratio. It is recommended to use the maximum value. If the exposure time is still overexposed after adjusting it to the minimum, consider reducing this value.

Note: It is recommended to adjust the brightness to 1023

3.1.5 gain

Adjust the brightness of the picture.

Range: 0-24

The gain value of the adjustable 2DCamera should be increased appropriately. As the gain increases, the noise will increase.

3.1.6 smooth

Range:0-5

Perform smoothing operation on Point Cloud to remove noise.

3.1.7 Confidence

Confidence indicates the degree of trustworthiness, and Point Cloud will be screened initially, usually 2-5, and customers can adjust it on site.

When Confidence is lowered, more of the black part in the Depth image is retained; conversely, when Confidence is raised, the black noise in the Depth image will be removed.

Range: 0-100

3.1.8 noise filter

Range 0-100

When identifying items on metal, aluminum foil surfaces, reflective films, and smooth surfaces, specular reflection will cause excessive local reflected light, thereby losing the original information of the object and interfering with Pickwiz recognition and detection of images. Increasing the noise filter value can partially eliminate the generated noise and preserve the original information of the object.

3.2 Optional Parameter

3.2.1 radius filter

Radius value range: 0.00-99.99

Threshold value range: 0-99

For each point in the Point Cloud, determine a sphere with a radius r. If the number of points inside the sphere is less than Threshold, it is considered a noise point and should be eliminated.

3.2.2 depth filter

For filtering suspended noise in the Z-axis direction, the larger the threshold, the more obvious the filtering effect. Based on the Depth image filtering method, the Threshold is recommended to be 33 at a distance of 1000mm.

Range: 0-100

3.2.3 reflection filter

To filter the facade noise caused by metal mutual reflection, the larger the threshold, the more obvious the filtering effect will be.

Range: 0-100

3.2.4 phase correction

Phase correction, namely Point Cloud grayscale compensation, is a method of correcting grayscale information in three-dimensional Point Cloud data. The purpose of Point Cloud grayscale compensation is to eliminate these grayscale value differences and convert the grayscale information in Point Cloud into a value corresponding to the reflectivity of the actual object surface. The larger the threshold, the more obvious the correction.

Range: 0-100

Instructions for use: First place the Calibration Board, taking the plane of the Calibration Board as the reference plane, as shown in the figure below.

Adjust the maximum height to 1 and the minimum height to -1, and only display the Calibration Board part, as shown in the figure below.

When phase correction is not turned on, the Calibration Board is as shown in the figure below. In the actual Calibration Board, the entire Calibration Board is flat, and there are no up and down fluctuations in the circular and non-circular parts. However, the actual photographed effect is that of a circle with undulations.

After turning on the phase correction, it is found that there is basically no color difference or the difference is not obvious on the Calibration Board, indicating that the correction is successful.

3.2.5 2D image overlay exposure

This function can separately cover the initial 2D image after obtaining the Point Cloud; sometimes the Point Cloud is good, but the 2D image is too dark and overexposure, which does not meet the requirements. At this time, the 2D overlay exposure can be turned on to cover the original 2D image.

Exposure Type: Optional Single Exposure / HDR

Only for XEMA and SPARROW Camera (supporting both color and black-and-white cameras), the exposure type of 2D image overlay exposure Parameter has added HDR, that is, high dynamic mode.

model:

• Single exposure: mode optional luminescence (only supported by black and white Camera) /不发光/自动曝光

  • Luminous/non-luminous: Select Luminous to adjust the exposure time and gain to make the picture brighter; select Non-luminous to adjust the brightness of the light in the environment, and you can also set the exposure time and gain to make the picture brighter.

  • Automatic exposure: Adjustable target brightness and maximum exposure time to make the picture brighter

• HDR: Mode selectable No light emitted

  • Only supports no light: adjustable high dynamic exposure times and high dynamic exposure time to make the picture brighter

4. Typical cases

This section uses ordinary objects, black objects, and metal mirror-reflective Targets as examples to explain how to take a clear and complete Point Cloud. Parameter is not absolute and can be fine-tuned depending on the working environment.

4.1 ordinary objects

When shooting ordinary objects, we should try to increase the projection brightness and exposure time without overexposure. At this time, the shooting effect will be optimal. First, set the maximum projection brightness to 1023, the minimum exposure time to 20000, and Confidence to 10 to retain the depth information. At this time, no overexposure was found in the brightness map. However, part of the black area marked on the height map is not displayed (the location of the cat's ears when photographed).

At this time, you can increase the number of repeated exposures and add effective information, for example, set it to 6. If the brightness map is slightly darker at this time, you can increase the exposure time appropriately, such as increasing it from 20000 to 22000. If you increase it further, it will be overexposed, so please pay attention!

The final effect is as follows:

4.2 black object (repeated exposure)

Photograph a black object, such as a pure black sponge. First, set the projection brightness to a maximum of 1023 and the exposure time to 35000. If the picture is not bright enough, you can increase the exposure time without overexposing it. As shown in the picture

However, we found that there was a lot of random noise in the sponge in the height map. At this time, we increased the number of repeated exposures to 5. The purpose was to improve the signal-to-noise ratio, so that the random noise would be suppressed and effective information would be added. As shown in the picture:

The final Point Cloud effect:

It is recommended that Parameter (under indoor illumination conditions, for reference only, can be fine-tuned) uses repeated exposure.

Projection brightness: 1023, exposure time: 35000, number of repeated exposures: 5

Confidence: 0, noise filter: 0

4.3 Metal Mirror Reflective Target (High Dynamic)

When detecting metal, aluminum foil surfaces, reflective films, and objects with smooth surfaces, specular reflection will cause excessive local reflected light, thereby losing the original information of the object. In the actual operating environment, the number of exposures can be selected according to the level of the object. As shown in the figure below, there are Target, black version, and platform with holes. At this time, we can choose the number of exposures to be 3.

Step 1: First set the projection brightness to the maximum of 1023 and the exposure time to 30000. The purpose is to obtain the depth information in the darkest place (Confidence is 5, noise filtering is 50). This can be used as a set of exposure data under high dynamic. In the height map without turning on high dynamic, as shown in the figure below, you can see the depth information of the outermost black version.

Step 2: To get the depth information of the brightest part, display the depth information of the missing part (brightest) of the Target in the first step. For example, if the projection brightness is reduced to 1023, the exposure time is 1700, (Confidence is 5, and the noise filter is 50), as a set of exposure data under high dynamic, in the height map without turning on high dynamic, as shown in the figure below, it can be seen that the information that was previously missing from the Target (the brightest part) is successfully displayed.

Step 3: Set the projection brightness to an intermediate value of 800 between the first and second steps, and an exposure time of 25000. (Confidence is 5, noise filtering is 50), which can be used as a set of exposure data under high dynamic conditions, in the height map without turning on high dynamics, as shown in the figure below.

Step 4: Turn on high dynamics, set the number of exposures to 3, the first set of data: 1700, 1023; the second set of data: 30000, 1023; the third set of data: 25000, 800. Confidence 5, Noise Filter 50.

As shown in the figure, you can get a clear and complete Point Cloud picture with no missing parts.

Recommended Parameter (under indoor illumination conditions, for reference only, can be fine-tuned)

Engine mode uses high dynamic, high dynamic exposure times: 3, noise filtering: 50, Confidence: 5,

Exposure time and projection brightness:

1. Exposure time: 1700 Projection brightness: 1023
2. Exposure time: 30000 Projection brightness: 1023
3. Exposure time: 25000 Projection brightness: 800

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