3D Localization Configurator - Revision history

Juranek at 14:20, 26 July 2018

2018-07-26T14:20:07Z

Juranek: /* Advanced parameters */

2018-07-26T13:56:20Z

‎Advanced parameters

Juranek: /* Advanced parameters */

2018-07-26T10:56:40Z

‎Advanced parameters

Juranek: /* Advanced parameters */

2018-07-26T10:52:32Z

‎Advanced parameters

Juranek: /* Advanced parameters */

2018-07-26T10:52:22Z

‎Advanced parameters

Juranek at 10:48, 26 July 2018

2018-07-26T10:48:26Z

Juranek at 10:48, 26 July 2018

2018-07-26T10:48:04Z

Juranek at 10:47, 26 July 2018

2018-07-26T10:47:38Z

Marcel: Overview section

2017-07-24T14:21:25Z

Overview section

Marcel: /* 3D visualiser */

2017-03-15T10:56:13Z

‎3D visualiser

@@ Line 50: / Line 50: @@
 : By default (this option is not checked), object is considered occluded when there is another object on top of it (from the camera perspective)
 : The assumption for using this setting is that the object can be safely picked also when there are other objects on top of it (e.g. these objects will fall down without damage when the underlying object is being picked)
 == Advanced parameters ==

@@ Line 52: / Line 52: @@
 == Advanced parameters ==
-First the algorithm splits the scene into segments. Segment should be a continuous meaningful area in the scan. In the visualiser each segment has different shade of green color. When there are multiple objects in the scene, each object should have different shade of green. It does not matter when the object is split into several segments.
+[[File:Configuration_Localization.png]]
-[[File:Configuration_Localization.png]]
+=== Local Search Radius ===
 == 3D visualiser ==

← Older revision		Revision as of 10:56, 26 July 2018
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	== Advanced parameters ==		== Advanced parameters ==
		+	First the algorithm splits the scene into segments. Segment should be a continuous meaningful area in the scan. In the visualiser each segment has different shade of green color. When there are multiple objects in the scene, each object should have different shade of green. It does not matter when the object is split into several segments.
		+
		+	There are 3 settings affecting the segmentation:
		+	Scene clustering level - higher means more segments will be created
		+	Scene minimal cluster size - nominal number of points in segment. Smaller segments are filtered out (gray color)
		+	Scene maximal cluster size - nominal number of points in segment. Bigger segments are filtered out (gray color)
		+	Then there is an matching algorithm itself and another 3 settings:
		+	Matching algorithm: use either Surfaces (default) or Combined. Combined is good when the object is somewhat planar and have clear edges (it is not rounded). In your case Surfaces should work as well, but Combined might be slightly faster.
		+	Model Keypoints Sampling: the density of model subsampling. Higher density means more points and more extensive computations. For Combined matching algorithm the Dense option is not so heavy on the computation and might bring better results.
		+	Local Search Radius: the algorithm works on searching around numerous key points in the scene. This parameter sets the radius for searching. For specific situations, it might speed up or slow down the search, but should not have very significant effect if the part is found or not.
		+	The next 3 settings influence the tolerance of the matching to noise and accuracy of the fit:
		+	Feature fit consideration level: this is related to the segmentation. This number expresses the minimal size of the segment (as the percentage of object surface from specific viewpoint) to be this segment considered relevant for matching it with the object (Smaller segments are not relevant for fitting the object there).
		+	Maximal feature fit overflow: percentage of the segment which might not fit the object "perfectly" (the percentage is calculated from the size of the segment)
		+	Global maximal feature fit overflow: percentage of all segments which might not fit the object perfectly (the percentage is calculated from the sum of segment sizes)
		+	Fine alignment stage has also 3 settings:
		+	Fine Alignment Iterations: number of iterations of fine alignment algorithm. Meaningful numbers: 6 - 30
		+	Fine Alignment Point Set: either Surface or Edge points. Edge points might be more useful for planar and rectangular objects, but usually remains on the Surface option.
		+	Fine Alignment Point Set Sampling: keep always Sampled, use Complete only in the situation when the point set is set to Edges
		+	The rest two options are for special cases:
		+	Projection Tolerance and Projection Hidden Part Tolerance - percentages, usually set to 100 %, which means it is turned off. Imagine you have a thin L shaped object and you scan it directly from the top, so you can see one side almost completely (except the shadows), but from the other side you see only the edge. In this case the localization might find the object flipped because it relies on the side that is visible and few points on the edge are not significant. By setting these tolerance to lower percentage, e.g. 10 - 45 % the localization will consider shadowing of the object on itself and further indicators to find correct "flip" of the part.
		+	The last option Overlap is taken from the main application window and the field Overlap with model: After the algorithm finds the object in the scene, it calculates number of points fitting on the CAD model. The model is "covered" with points only to some extent and this coverage we call overlap. When the overlap is lower than specified number, the object is not returned by the algorithm.

← Older revision		Revision as of 10:52, 26 July 2018
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−	[[File:~~Configuration_Localization2~~.~~jpg~~]]	+	[[File:Configuration_Localization.png]]

	== 3D visualiser ==		== 3D visualiser ==

← Older revision		Revision as of 10:52, 26 July 2018
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−	[[File:~~Configuration_Localization~~.jpg]]	+	[[File:Configuration_Localization2.jpg]]
−

	== 3D visualiser ==		== 3D visualiser ==

← Older revision		Revision as of 10:48, 26 July 2018
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−	[[File:Configuration_Localization.jpg~~\|800px~~]]	+	[[File:Configuration_Localization.jpg]]
		+

	== 3D visualiser ==		== 3D visualiser ==

← Older revision		Revision as of 14:21, 24 July 2017
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	Localization Configurator requires [http://www.photoneo.com/product-detail/phoxi-control-application/ PhoXi Control Application] to connect to 3D scanner or file camera.		Localization Configurator requires [http://www.photoneo.com/product-detail/phoxi-control-application/ PhoXi Control Application] to connect to 3D scanner or file camera.

		+	== Overview ==
		+
		+	To download Localization SDK, visit our product webpage: [http://www.photoneo.com/product-detail/photoneo-localization-sdk/ Localization SDK]
		+
		+	The Localization Configurator is installed together with the SDK. It serves as a simple wizard to generate PLCF file, which is used as an input for Localization SDK. The example code of how to use the SDK is located in installation folder, which is usually
		+	* C:\Program Files\PhotoneoSDK\Localization\Examples\ in Windows
		+	* \opt\PhotoneoSDK\Localization\Examples\ in Ubuntu
		+
		+	Copy the example directory outside the Program Files directory (because of the user rights) and use CMake to generate the project.

	== Setting the gripping point ==		== Setting the gripping point ==

@@ Line 46: / Line 46: @@
 D visualiser helps to test the localization parameters on specific object. It displays the 3D point cloud acquired from 3D scanner or file camera via PhoXi Control Application.
-After starting the localization process, the CAD models of found object are drawn into the point cloud. The color of object indicates whether the object is occluded ('''blue color''') or not occluded ('''gold color'''). Gold objects are most suitable to pick.
+After starting the localization process, the CAD models of found object are drawn into the point cloud. The color of object indicates whether the object is occluded ('''blue color''') or not occluded ('''gold color'''). Gold objects are the most suitable to pick.
 === Controls ===