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关于DLP4500与微软相机进行结构光3D点云生成的问题

Other Parts Discussed in Thread: DLP4500, TIDA-00254

在使用DLP4500进行结构光三维点云生成时,使用的是微软相机.

TIDA-00254: Accurate Point Cloud Generation for 3D Machine Vision Applications Using DLP® Technology and Industrial Camera只给出了微软相机的接线方式,后面的配置都是基于pointgray相机。

所以对于微软相机具体应该怎么配置?

  • 1. 安装参考文档资料http://www.ti.com/lit/pdf/dlpu019 (17页,2.2)

    2使用参考http://www.ti.com/lit/pdf/dlpu019 第24页3.2,3.3(25,26页)指出了两个配置的区别.

  • 17页2.2已安装。25页接线正确。26页(3.3)配置上:

    1、选择ALGORITHM_TYPE=0,这个和相机无关

    2、CAMERA_TYPE选择的是OpenCV interface(native camera interface 是Point Gray相机所以没选)

    3、资料上config_camera.txt中配置的全是Point Gray Camera下的参数。

    剩下所有的配置都是和相机无关的。(按以上配置在system calibrate时出现了问题,DLP不投图像)

    所以不是很理解对于微软相机该如何配置。

  • Lifecam参数是在install后配置的.

    After the camera sofware has been installed, the camera should be configured so that the auto-exposure
    and auto-focus are both turned off.
    1. Open the LifeCam software with the camera connected and a live view should open. Click the arrow on
    the right side of the window.
    2. A new window will open to adjust effects of settings of the camera. Click the gear button at the top of
    the window to show the settings.
    3. Uncheck the "truecolor" checkbox.
    4. Click the "Properties" button.
    5. From the "Camera Control" tab, uncheck the auto-focus checkbox and click "Apply."
    6. Change to the "Video Settings" tab, and set the "Brightness" and "Saturation" settings to their absolute
    minimum values.
    7. Uncheck both the auto-white balance and auto-exposure checkboxes and click "Apply."
    8. With the LightCrafter projecting a white test pattern, adjust the Exposure settings until the image is well
    exposed but not over-exposed.

  • 这个我也按照说明配置好了。现在的问题是在system calibrate的时候在DLP调焦距的时候没有出现棋盘。

    但是如果我把如下参数改成 Internal Trigger(资料里默认为1,外部触发,没改动)的话就会在聚焦时候出现棋盘。

    ##For below parameter
    ## 1 - External Positive Trigger
    ## 0 - Internal Trigger
    LCR4500_PARAMETERS_TRIGGER_SOURCE = 

    但是在正是开始标定时候,始终只有全亮的投影,捕捉不到棋盘。(我用lightcrafter4500软件读取时发现图像序列只有一个图,大概就是那个全亮的)

  • TI缺省的是使用camera来触发LightCrafter4500,因此配置为External Trigger.

    但是LifeCam没有触发接口,因此要更改为Internal Trigger(DLP LightCrafter4500).

  • 并没有用。改成internal触发之后图像序列播放不和这个相机同步,还是捕捉不了。所有的配置方式我几乎都试过了,都不能行。有没有人用微软相机成功过?我感觉真的不行啊。

  • 请提供联系方式,讨论一下系统配置.

  • 邮箱1564861584@qq.com 电话13476819882

  • 请参考配置:

    Webcam通常是卷帘彩色相机, 3 Phase shift算法不适用.

    整个速度在5-10HZ或更低.

    Configuration changes –

    1. File - DLP_LightCrafter_4500_3D_Scan_Application_Config.txt

    #Camera type

    # 0 - Uses OpenCV camera interface

    # 1 - Native camera interface - PointGrey

    CAMERA_TYPE                                                                         = 0

    # Algorithm type

    # 0 - GrayCode

    # 1 - Hybrid Three Phase Shift

    ALGORITHM_TYPE                                                                    = 0 

    CONNECT_ID_PROJECTOR                                                      = 0

    CONNECT_ID_CAMERA                                                            = 0

    CONFIG_FILE_PROJECTOR                                                      = config/config_projector.txt

    CONFIG_FILE_CAMERA                                                            = config/config_camera.txt

    CONFIG_FILE_CALIBRATION_PROJECTOR                                = config/calibration_projector.txt

    CONFIG_FILE_CALIBRATION_CAMERA                                      = config/calibration_camera.txt

    CONFIG_FILE_GEOMETRY                                                        = config/geometry.txt

    CONFIG_FILE_STRUCTURED_LIGHT_1                                     = config/algorithm_vertical.txt

    CONFIG_FILE_STRUCTURED_LIGHT_2                                     = config/algorithm_horizontal.txt

    CONTINUOUS_SCANNING                                                        = 0

    CALIBRATION_DATA_FILE_PROJECTOR                                    = calibration/data/projector.xml

    CALIBRATION_DATA_FILE_CAMERA                                          = calibration/data/camera.xml

    DIRECTORY_CAMERA_CALIBRATION_IMAGE_OUTPUT             = calibration/camera_images/

    DIRECTORY_SYSTEM_CALIBRATION_IMAGE_OUTPUT              = calibration/system_images/

    DIRECTORY_CALIBRATION_DATA                                             = calibration/data/

    DIRECTORY_SCAN_DATA_OUTPUT                                          = output/scan_data/

    DIRECTORY_SCAN_IMAGES_OUTPUT                                       = output/scan_images/

    OUTPUT_NAME_IMAGE_CAMERA_CALIBRATION_BOARD          = camera_calibration_board

    OUTPUT_NAME_IMAGE_CAMERA_CALIBRATION                       = camera_calibration_capture_

    OUTPUT_NAME_IMAGE_SYSTEM_CALIBRATION                        = system_calibration_capture_

    OUTPUT_NAME_IMAGE_DEPTHMAP                                          = _depthmap

    OUTPUT_NAME_XYZ_POINTCLOUD                                          = _pointcloud

     

    1. File - config_camera.txt

    CAMERA_PARAMETERS_FRAME_BUFFER_SIZE                        = 72

    ####################

    ##OpenCV Camera    #

    ####################

    OPENCV_CAM_PARAMETERS_EXPOSURE                                 = 0

    ####################

    ##PointGrey Camera #

    ####################

    #PG_FLYCAP_PARAMETERS_GAIN_DB                                      = 18

    # For below parameter set

    # Rolling shutter color Camera - MONO8

    # Global shutter Monochrome camera - RAW8

    PG_FLYCAP_PARAMETERS_PIXEL_FORMAT                              = RAW8

    PG_FLYCAP_PARAMETERS_SHUTTER_EXPOSURE_MS             = 33

    PG_FLYCAP_PARAMETERS_FRAME_RATE_HZ                          = 30

    PG_FLYCAP_PARAMETERS_STROBE_SOURCE                          = 2

    PG_FLYCAP_PARAMETERS_STROBE_ENABLE                           = 1

    PG_FLYCAP_PARAMETERS_STROBE_POLARITY                        = 1

    # For below parameter

    # Rolling shutter color camera - 5.0

    # Glocal shutter Monochrome camera - 0.0

    PG_FLYCAP_PARAMETERS_STROBE_DELAY                             = 0.0

    PG_FLYCAP_PARAMETERS_STROBE_DURATION                      = 1.0

    PG_FLYCAP_PARAMETERS_AUTOEXPOSURE                            = 0

    PG_FLYCAP_PARAMETERS_EXPOSURE                                    = 1.0

     

  • 很遗憾这样做还是不行。我看了一下源码,猜测问题可能如下:

    ret = projector->DisplayPatternInSequence(0,true);//放出棋盘用于聚焦

    ......

    dlp::CmdLine::PressEnterToContinue("Press ENTER after the projector has been focused...");

    ......

    camera_view.Open("System Calibration - press SPACE to capture or ESC to exit");//打开摄像头窗口

    ......

    projector->ProjectSolidWhitePattern();//放标定图像序列

    对于有外部出发相机的情况(设定为外部触发),等相机拍照时同步触发图像序列。而没有外部触发(采用内部触发),则根据电路的内部脉冲自动播放了导致不能和相机同步。

    稍微修改一下代码就好。有时间的话我试试(看了下资料编译过程挺复杂的,不知道能不能搞好)。

  • 这个时候能否看到全白的图片显示?

    另外OpenCV的窗口能否看待camera活动的画面?

  • 可以的。硬件是没有问题的。就是软件在:

                   projector->DisplayPatternInSequence(0,true);//就是标定的那个全白图像

    之后,对于由外部触发的则是在拍照时由外部触发来显示。而对于微软相机(内部触发)则是在这句话后立刻由内部触发显示图像,而此时相机还没有拍照,导致不同步。

    不好意思,今天有点事情所以没回消息。

  • 安装这个设置是可以的。camera相机的速度要设置很低,再核对一下软件版本。

  • 请问你们是试成功了(没触发的相机)?

  •  更改曝光时间: 100,000us 

  • 您好,请问DLP4500只能使用pointgrey相机么,能否使用Basler等相机,谢谢。
  • 您好!
    LightCrafter4500EVM作为结构光发生器提供了灵活的Trigger In和Trigger Out接口,用于与Camera等sensor同步,对Camera没有具体要求,取决于您的终端应用。
    谢谢
  • 您好!目前我看到的文档和demo都是用pointgrey相机,请问有没有与其他相机相连的相关配置说明?谢谢。

  • 您好!
    请参考Jeremy Wu的回复
    1. 安装参考文档资料www.ti.com/.../dlpu019 (17页,2.2)
    2使用参考www.ti.com/.../dlpu019 第24页3.2,3.3(25,26页)指出了两个配置的区别.
    谢谢
  • 好的,谢谢。
  • 您好,文档里介绍相机端两根线和DLP相连,请问相机端其他的线悬空不连接么?
  • 您好!
    这取决相机以及实际应用本身,与LightCrafter4500 EVM相连主要是为了触发同步,因此需要Trigger和Ground,在该Demo中camera还与PC通过USB3.0接口相连(PG Camera)
    谢谢