3D Laser Profiler

Description

This Step, which is generally the first step in a measurement project, is used to acquire the scan data. With this Step, you can connect to Mech-Eye 3D Laser Profiler (hereinafter referred to as “laser profiler”) to acquire data, or read locally saved data in the virtual mode.

Workflow

The process of configuring this Step is shown below:

3d laser profiler workflow

  1. Select the number of laser profilers in use.

  2. Determine whether to Use Real Laser Profiler(s) or Load Locally Saved Data.

  3. Set Parameters.

  4. Run the Step and view output.

Use Real Laser Profiler(s)

Preparations

  1. Complete hardware setup of the 3D measurement system.

  2. Complete relevant settings in Mech-Eye Viewer:

    1. Connect to Laser Profiler in Mech-Eye Viewer.

    2. Adjust parameters in Profile Mode and Scan Mode and save the parameter group.

The version of Mech-Eye Viewer should be 2.3.4 or higher.

Workflow

  1. Drag the Step to the graphical programming workspace.

  2. In the Parameters section of this Step, set Camera Mode to One.

  3. Click the Select camera button to open the Choose the camera and calibration parameter group to use window.

    In this context, camera refers to the laser profiler.

  4. Find the camera to connect in the Camera ID list, hover the cursor over the camera ID, and click 3d laser profiler icon to connect to the camera.

    If 3d laser profiler icon becomes 3d laser profiler icon 1, the camera is connected successfully.

  5. After the camera is connected successfully, you can select the calibration parameter group in the drop-down list of Calibration Parameter Group and then click the OK button in the lower-right corner of the window. Some parameters will be automatically updated in the Parameters section.

  6. Set Parameters.

  7. Run this Step to obtain image data.

Load Local Data

Preparations

Acquire and save data with a laser profiler. For related operations, refer to Acquire and View Data and Save Data instructions.

Workflow

  1. Drag the Step to the graphical programming workspace.

  2. In the Parameters section of this Step, set Camera Mode to One and enable the Virtual Mode.

  3. Click the icon 3d laser profiler flod icon under Data Path.

  4. In the pop-up window, browse and select the folder where the data is saved and then click the Select Folder button.

    If the selected folder does not contain valid data of the virtual camera, a Virtual Camera Assistant window will pop up. You need to manually select the path to the folder that contains the MRAW files of the virtual camera. Note that you should use Mech-Eye Viewer (version 2.3.4 or later) to save the MRAW files of the virtual camera.
    virtual camera assistant

  5. Set Parameters.

  6. Run this Step to load the locally saved data.

Parameters

Camera Mode

Parameter description: The parameter is used to select whether to use One or Multiple laser profilers for the current project.

Camera Type

Parameter description: This parameter is used to select the laser profiler type in use. Currently, only LNX-Camera is supported, i.e., the Mech-Eye 3D Laser Profiler.

Basic Settings

Parameter Description

Virtual Mode

Disabled by default. If you need to run the project with the locally saved data, you can enable the Virtual Mode.

Camera ID

Confirm the ID of the camera to be connected. Click the Select camera button and select the camera to connect. Refer to Workflow for detailed instructions.

Camera IP

IP address of the laser profiler.

This parameter will be automatically updated after the laser profiler is connected. Do not make any modification, otherwise the laser profiler will be disconnected.

Configuration Parameter Group

The laser profiler acquires data according to the parameters in the parameter group configured in Mech-Eye Viewer.

Update Configuration Parameter Group

If you have modified and saved the selected configuration parameter group in Mech-Eye Viewer, you can click the Get updates button to update the parameter group.

The parameter group cannot be updated when Data Acquisition Status is enabled.

Calibration Parameter Group

The parameter group used by the selected laser profiler.

Flip Image

Flips the acquired image horizontally (i.e., along the Y-axis) to resolve the mirrored image issue.

The laser profiler’s Y-axis direction is fixed, from the sensor head’s laser emitter to the receiver unit. When the motion direction of the target object relative to the sensor head is opposite to the Y-axis direction, the acquired image will be mirrored. In this case, you can select this option to ensure that the acquired image can meet the expectations. However, if the motion direction of the target object relative to the sensor head aligns with the Y-axis direction, leave this option unselected.

Num of Reconnection Attempts

Use this parameter to specify the maximum number of attempts to reconnect the camera if the software fails to connect to the camera within the timeout period. The default value is 3.

Calibration Type

The layout of multiple laser profilers, including Side-by-side, Reverse, and Opposite. For more information, see Select the Layout of Laser Profilers.

Output Image Fusion Result

Select this option to fuse images acquired by multiple laser profilers. For example, you can fuse data acquired by two laser profilers in a side-by-side layout into one image.

Images acquired by laser profilers in an opposite layout cannot be fused.

Trigger Settings

Parameter Description

Data Acquisition Status

When Data Acquisition Trigger Source is set to External, enabling this parameter allows the laser profiler to acquire data based on external trigger signals.

When Data Acquisition Trigger Source is set to Software, enabling this parameter allows the software to send trigger signals to the laser profiler for data acquisition.

When the parameter is enabled, the laser profiler will be in the data acquisition status, and the configuration parameter group cannot be modified. When this parameter is disabled, cached image data will be automatically cleared.

Timeout Period

The timeout period for data retrieval. The timeout should be greater than or equal to the time required for one round of data acquisition to ensure that the software can receive complete data within the timeout period.

This parameter is invalid when the Data Acquisition Method is set to Nonstop or when the Virtual Mode is enabled.

Auto-Filled Parameters

After a camera is connected, the following parameters are automatically updated according to the actual situation and cannot be modified in Mech-MSR. If you do need to adjust the parameters, however, you can connect the corresponding laser profiler in Mech-Eye Viewer and configure these parameters.

  • Data Acquisition Method

    The data acquisition methods include Frame-Based and Nonstop.

    See Data Acquisition Method for detailed instructions.

  • Data Acquisition Trigger Source

    Select the method for triggering a round of data acquisition, External or Software.

    See Methods for Triggering Data Acquisition for detailed instructions.

  • Line Scan Trigger Source

    Select the method for triggering one line scan, Encoder or Fixed rate.

    See Methods for Triggering Data Acquisition for detailed instructions.

  • Scan Line Count

    The number of profiles needed to generate one intensity image or depth map.

    See Scan Line Count for detailed instructions.

  • Y-Axis Resolution

    The resolution in the Y direction, which is the distance between two neighboring points along the travel direction of the target object.

    See Point Cloud Y-Axis Resolution for detailed instructions.

  • Trigger Interval

    The number of trigger signals needed for scanning one line. Only visible when Line Scan Trigger Source is set to Encoder.

    Please refer to Trigger Interval for detailed instructions.

Virtual Settings (Displayed after “Virtual Mode” is Enabled)

Parameter Description

Playback Mode

This parameter is used to specify the order to read the images.

Options:

  • Sequential (default): Read the images in the order of the images in the folder.

  • Repeat one: Read the current image repeatedly.

  • Repeat all: Read all images in the order of the images in the folder and then read them from the beginning after all images are read.

  • Random: Read images randomly.

Please select the mode according to the image reading order you need.

Current Frame Name

This parameter is used to read the name of the currently loaded image.

Other Settings

This parameter group is displayed differently under different settings. Refer to the descriptions according to your specific situation.
Parameter Description

Data Transfer Wait Time

The time for the laser profiler to transfer data to Mech-MSR after the scan is completed.

Heartbeat Interval

The interval between heartbeat signals sent by the laser profiler to ensure a stable and real-time connection.

Use Initial Encoder Value

Once this option is enabled, the initial encoder value will be used to generate the point cloud.

Save Encoder Values to JSON

Once this option is enabled, the encoder values will be saved to a JSON file.

Cache Settings

Parameter Description

Maximum Cached Data

This parameter is used to show the maximum data volume that can be cached. With each scan, the cached data can generate depth maps, intensity images, and point clouds. When this value is exceeded, you can process the cached data using the Cache Overflow Solution or manually clear the cache.

Cache Overflow Solution

This parameter is used to select the solution to the cache overflow.

Options: DiscardOldest, DiscardNewest.

Clear Cache

This parameter is used to clear cached image data manually.

Output Description

The output of this Step is the surface data including depth map and intensity image that can be used as input to other Steps.

Troubleshooting

  • For common errors, see Error Code List.

  • If the error code is inconsistent with the error message, please contact technical support for help.

CV-E0201

Error: Failed to connect to the camera.

Possible causes:

  1. The cable connection between the camera, IPC, and router/switch is abnormal.

  2. Firewalls or antivirus software are not shut down.

  3. The IP address of the camera is modified.

  4. Multiple Ethernet ports of the computer had IP addresses in the same subnet.

Solutions:

  1. Make sure that the cables are properly connected.

  2. Disable the computer firewall or add Mech-MSR to the computer firewall whitelist, then disable the antivirus software.

  3. Make sure that the camera’s IP address is correct.

  4. Disable other Ethernet ports on the computer that are not used for camera connections, then run Mech-MSR and reconnect the camera.

If all of the above steps work but the camera still cannot be detected, try power-cycling the camera.

CV-E0202

Error: Camera XXX has no access permission.

Solution: Please check the logs and ensure that the network and camera firmware are functioning properly before trying again. If the issue persists, please contact Technical Support.

CV-E0203

Error: Failed to connect to the camera: XXX. The camera is not responding.

Possible cause: The IP and the port of the camera are incorrect.

Solution: Please check if the IP and the port of the camera are correct.

CV-E0204

Error: Failed to connect to the camera: XXX. Camera is connected by a third-party software through the GenICam interface.

Solution: Ensure the camera is not connected by a third-party software product through the GenICam interface.

CV-E0205

Error: The camera firmware of the current version is not supported.

Solution: Please upgrade the camera firmware before using Mech-Eye Viewer to connect to the camera.

CV-W0206

Error: Failed to initialize the data acquisition device due to an internal error.

Solution: Please contact Technical Support.

CV-W0207

Error: No data acquisition device is connected.

Solution: Please connect a device first.

CV-W0208

Error: Failed to connect to the data acquisition device.

Solutions:

  • Make sure the data acquisition device is available for connection.

  • Make sure the IPC and the data acquisition device are on the same subnet.

  • Close all software that may be occupying the data acquisition device.

  • Turn off the firewall, or allow Mech-MSR through the firewall.

CV-E0210

Error: Cannot use an external device to trigger the project to run as no real camera is connected.

Possible cause: In the Step for image acquisition, the “Virtual Mode” was enabled, and thus the project used previously saved data instead of acquired data in real time.

Solution: In the Step for image acquisition, disable the “Virtual Mode” and connect the software to a real camera.

CV-W0211

Error: Failed to obtain the parameters of the data acquisition device due to an internal error.

Solution: Please contact Technical Support.

CV-W0212

Error: An internal error occurred.

Solution: Please contact Technical Support.

CV-W0213

Error: Failed to read the camera parameters from files due to an internal error.

Solution: Please contact Technical Support.

CV-W0214

Error: Failed to write the camera parameters into files due to an internal error.

Solution: Please contact Technical Support.

CV-W0215

The possible error messages are listed below:

  • The acquired profile data is empty.

  • The width of acquired data is 0.

  • The height of acquired data is 0.

  • Invalid depth map data.

  • Invalid intensity image data.

  • Invalid encoder array data.

  • Empty encoder array data.

Solution: Please check the parameter settings of the laser profiler and acquire image data again. If the issue still exists, please contact Technical Support.

CV-W0218

Error: The depth values of images are all NaN.

Possible causes:

  1. Insufficient camera exposure.

  2. The target object is outside the sensor head’s working distance.

  3. The sensor head’s position is incorrect.

Solutions:

  1. Adjust the camera exposure settings or increase the lighting.

  2. Ensure the target object is within the sensor head’s working distance.

  3. Calibrate or adjust the sensor head’s position.

CV-W0219

Error: The parameter groups of the grouped laser profilers do not match the multiple laser profiler calibration parameter group.

Possible causes:

  • The trigger settings or resolution settings of the grouped laser profilers are inconsistent.

  • The resolution or ROI setting of the grouped laser profilers does not match the multiple laser profiler calibration parameter group.

Solutions:

  • Check the parameters of the grouped laser profilers to ensure that their trigger settings, resolution, and ROI settings are completely consistent.

  • Ensure that the selected multiple laser profiler calibration parameter group correctly matches the current device settings.

CV-W0261

Error: Failed to connect to the data acquisition device.

Possible causes:

  1. The data acquisition device was not connected to the IPC.

  2. The entered IP address did not correspond to a Mech-Eye device.

Solutions:

  1. Ensure the data acquisition device is connected to the IPC.

  2. Verify that the entered IP address corresponds to a Mech-Eye device.

CV-W0262

Error: The data acquisition device is offline.

Possible cause: Network connection failed.

Solution: Check the network connection and try again.

CV-W0263

Error: The operation is not supported.

Possible causes:

  1. The camera firmware version is incompatible with the Mech-Eye API version.

  2. The camera in use does not support this operation.

Solutions:

  1. Ensure the firmware version matches the software version.

  2. Verify that the camera in use supports the intended operation.

CV-W0264

Error: The input device parameter value is outside of the valid range.

Solution: Ensure the entered value is within the valid range.

CV-W0265

Error: An internal software error occurred.

Possible cause: Unknown errors occurred in Mech-MSR.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0266

Error: The image data is empty.

Possible causes:

  1. “Data Acquisition Status” was not enabled in the “Parameters” section.

  2. The data acquisition device encountered an error.

Solutions:

  1. Ensure that “Data Acquisition Status” is enabled.

  2. Check the device for errors.

CV-W0267

Error: An internal software error occurred.

Possible cause: Unknown errors occurred in Mech-MSR.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0268

Error: Failed to execute the file reading or writing operations due to an internal error.

Solution: Please contact Technical Support.

CV-W0269

Error: The current operation has timed out.

Possible cause: The time to retrieve data or connect to the data acquisition device exceeded the set “Timeout Period.”

Solutions:

  • Ensure that the image data can be retrieved correctly in Mech-MSR.

  • Set an appropriate “Timeout Period” value.

CV-W0270

Error: An internal error occurred in the data acquisition device.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0271

Error: An internal error occurred in the data acquisition device.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0272

Error: Data acquisition has not been started.

Possible causes: “Data Acquisition Status” was not enabled in the “Parameters” section.

Solution: Ensure that “Data Acquisition Status” is enabled.

CV-W0273

Error: Failed to connect to the data acquisition device due to an internal error.

Solution: Please contact Technical Support.

CV-W0274

Error: Failed to connect to the data acquisition device due to an internal error.

Solution: Please contact Technical Support.

CV-W0275

Error: An internal error occurred in the data acquisition device.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0276

Error: An internal error occurred in the data acquisition device.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0277

Error: An internal software error occurred.

Possible cause: Unknown errors occurred in Mech-MSR.

Solution: Please try restarting the camera and reconnecting. If the issue persists, please contact Technical Support.

CV-W0278

Error: Failed to connect to the data acquisition device due to an internal error.

Solution: Please contact Technical Support.

CV-W0279

Error: The laser profiler is already in use and cannot be connected.

Possible cause: The laser profiler is currently connected to another IPC.

Solution: Ensure the laser profiler is not connected to any other IPCs before attempting to connect.

CV-W0280

Error: The internal image cache of the laser profiler is full.

Possible causes:

  • Data transfer is likely restricted due to an unstable network or insufficient bandwidth, which prevents the cache from being cleared in time.

  • The scan rate is too high, exceeding the processing and transfer capacity of the device cache.

  • The collected image data volume is too large, occupying excessive cache space and depleting storage resources.

Solutions:

  • Check and optimize the network connection to ensure sufficient bandwidth. If necessary, change the network environment or equipment.

  • Reduce the scan rate.

  • Adjust the ROI to decrease the amount of data per frame.

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