ULTRA M-GL Parameter

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This topic introduces the parameters of ULTRA M-GL based on the parameter categories. By adjusting these parameters, the quality of 2D images, depth maps, and point clouds can be improved.

Overview

The parameter categories that affect the quality of the 2D image, depth map, and point cloud are as follows:

Parameter category 2D image Depth map Point cloud

2D Parameters

icon_yes

3D Parameters

(1)

icon_yes

icon_yes

Point Cloud Processing

icon_yes

Depth Range

icon_yes

icon_yes

Region of interest

icon_yes

icon_yes

(1) The Gain and Light Brightness parameters in the 3D parameter category affects the brightness of the 2D image (depth source). For details, refer to Flash Acquisition Mode.

The goal of adjusting the parameters is to obtain high-quality 2D images, depth maps, and point clouds that meet the following standards:

  • The 2D image should not be too bright or too dark, and the surface features of the target object should be clearly visible in the image.

    If you are using a color camera, and the color of the image differ significantly from that of the objects, you can adjust the white balance setting. For detailed instructions, please refer to Adjust White Balance.

  • In the depth map and point cloud, the needed data should be complete.

    Determine which part of the data is needed according to your actual needs. For example, if you need to pick metal bowls with opening facing up by the rim, usually you only need to make sure that the data of the bowl rims is complete.

This model provides two types of 2D images: 2D image (texture) and 2D image (depth source). The usage of each type is as follows:

Type Usage Scenario

2D image (texture)

Texture the point cloud

2D image (depth source)

Check intrinsic parameters

Set ROI

Perform hand-eye calibration

1. 2D Parameters

The parameters in this category affect the quality of the 2D images. The category includes the 2D image (texture) and 2D image (depth source) subcategories.

1.1. 2D image (texture)

The parameters in the 2D image(texture) subcategory affect the quality of the 2D image (texture).

1.1.1. Exposure Mode

Description

Sets the exposure mode for capturing the 2D image (texture).

Visibility

Beginner, Expert, Guru

Values

  • Timed: Sets a single exposure time. Usually used in stable lighting conditions.

  • Auto: The exposure time is automatically adjusted. Usually used in varying lighting conditions.

  • HDR: Sets multiple exposure times and merge the images. Usually used for objects with various colors or textures.

Instruction

After selecting different options, different parameters are displayed in the 2D Parameters category for adjustment:

1.1.2. Timed: Exposure Time

Description

Affects the brightness of the 2D image (texture).

  • Long exposure time increases the image brightness.

  • Short exposure time decreases the image brightness.

Visibility

Beginner, Expert, Guru

Values

0.1 to 999 ms

Instructions

Adjust this parameter based on the image quality. The image should not be too bright or too dark, and the surface features of the target object should be clearly visible in the image.

  • Long exposure time is usually used in dark environments.

  • Short exposure time is usually used in bright environments.

Images obtained with different Exposure Time values (all other conditions identical):

5 ms 90 ms 500 ms

exposure time 5

exposure time 90

exposure time 500

1.1.3. Auto: Gray Value

Description

Affects the brightness of the 2D image (texture). Increase the value if the image is too dark and decrease if too bright.

Visibility

Beginner, Expert, Guru

Values

0 to 255

Instruction

N/A

Images obtained with different Gray Value values (all other conditions identical):

50 100 150

gray value 50

gray value 100

gray value 150
The Gray Value of a monochrome image is equivalent to the image brightness; the Gray Value of a color image is equivalent to the brightness of each color channel.

1.1.4. Auto: Auto-Exposure ROI

Description

  • The exposure time is automatically adjusted based on the lighting, object colors, etc., in the selected region.

  • When an auto-exposure ROI is not set, the exposure time is automatically adjusted based on the entire camera FOV.

Visibility

Beginner, Expert, Guru

Values

N/A

Instruction

For detailed instructions, refer to Set Auto-Exposure ROI below.

Images obtained with different Auto-Exposure ROI values (all other conditions identical):

Auto-exposure ROI 2D image (texture)

auto roi 1

auto roi scan 1

auto roi 2

auto roi scan 2

auto roi 3

auto roi scan 3

Set Auto-Exposure ROI

  1. Click Edit to the right of Auto-Exposure ROI to open the Set ROI window.

  2. Select and adjust the ROI on the left. Drag the selection box to move it. Drag the handles on the box to adjust the box size.

  3. Click Apply to apply the set auto-exposure ROI.

    roi 2d
    Click Clear to remove the current auto-exposure ROI.

  4. Acquire data again and view the image to check the result of automatic exposure adjustment.

1.1.5. HDR: Tone Mapping

Description

This function can make the image look more natural. Enable this function if the 2D image (texture) appears very different from the actual objects.

Visibility

Beginner, Expert, Guru

Values

Tone Mapping toggle switch:

  • When the toggle switch is turned on, Tone Mapping will be applied.

  • When the toggle switch is turned off, Tone Mapping will not be applied.

Images obtained with Tone Mapping off or on (all other conditions identical):

Off On

tone mapping false

tone mapping true

1.1.6. HDR: Exposure Sequence

Description

Sets multiple exposure times, and the captured images are merged to generate a 2D image that retains more details in the highlights and shadows.

Visibility

Beginner, Expert, Guru

Values

N/A

Instructions

  1. Click Edit to the right of Exposure Sequence to open the editing window of the exposure sequence.

  2. Click + to add and set a new exposure time.

  3. To delete an exposure time, select it and click -.

  4. After you finish adding the exposure times, click Apply to apply the exposure sequence.

    • Cancel: do not save the current settings and exit this window.

    • Reset: clear all the exposure times.

Images acquired with single exposure times (all other conditions identical):

500 ms 700 ms 900 ms

hdr false 500ms

hdr false 700ms

hdr false 900ms

Images acquired with different exposure sequences consisting of the above exposure times (all other conditions identical):

500ms & 900ms 500 ms & 700 ms & 900 ms

hdr false 2

hdr false 3

1.1.7. Gain

Parameters

This parameter increases the brightness of the 2D image (texture), but might amplify noise.

Visibility

Expert, Guru

Values

0 to 16 dB

Instruction

When the expected brightness cannot be reached by adjusting Exposure Time, adjust this parameter.

2D images (texture) obtained with different Gain values (all other conditions identical):

0 5 10

2d gain texture 0

2d gain texture 5

2d gain texture 10

1.2. 2D image (depth source)

The parameters in the 2D image(depth source) subcategory affect the quality of the 2D image (depth source).

1.2.1. Exposure Mode

Parameter Description

Sets the exposure mode for capturing the 2D images (depth source).

Visibility

Beginner, Expert, Guru

Values

  • Timed: sets a single exposure time. Usually used in stable lighting conditions.

  • Flash: uses the projector for supplemental light. Usually used in dark environments.

Instruction

After selecting different options, different parameters are displayed in the 2D Image (Depth Source) category for adjustment:

1.2.2. Timed: Exposure Time

Description

Affects the brightness of the 2D image (depth source)).

  • Long exposure time increases the image brightness.

  • Short exposure time decreases the image brightness.

Visibility

Beginner, Expert, Guru

Values

0.1 to 999 ms

Instructions

Adjust this parameter based on the image quality. The image should not be too bright or too dark, and the surface features of the target object should be clearly visible in the image.

  • Long exposure time is usually used in dark environments.

  • Short exposure time is usually used in bright environments.

Images obtained with different Exposure Time values (all other conditions identical):

10 ms 40 ms 80 ms

lsr timed 10

lsr timed 40

lsr timed 80

1.2.3. Flash: Flash Acquisition Mode

Parameter Description

Selects the mode for acquiring 2D images (depth source) when adding supplemental light with the projector. For detailed descriptions, refer to 2D Flash Exposure Mode.

Visibility

Beginner, Expert, Guru

Values

  • Fast: The 2D image (depth source) is acquired as part of the 3D data, thus providing a faster acquisition speed. However, the refresh rate of the 2D image (depth source) during continuous acquisition is lower (every 5 seconds).

  • Responsive: The 2D image (depth source) is acquired independently, which reduces the acquisition speed. However, the refresh rate of the 2D image (depth source) during continuous acquisition is higher (every second).

Instruction

Adjust this parameter based on the actual needs for the data acquisition speed and the image refresh rate during continuous acquisition.

  • When Responsive is selected, the Flash Exposure Time, Gain, and Light Brightness parameters are displayed for adjustment.

  • When Fast is selected, the brightness of the 2D image (depth source) is affected by the Exposure Time, Gain, and Light Brightness parameters in the 3D Parameters category. If the Exposure Multiplier parameter in the 3D Parameters category is set to 2, the brightness of the 2D image (depth source) is affected by the following parameters:

    • Larger value of the Exposure Time parameter used for two exposures

    • Larger value of the Gain parameter used for two exposures

    • Larger value in the Light Brightness parameter used for two exposures

1.2.4. Flash: Flash Exposure Time

Description

Sets the exposure time for capturing 2D images (depth source) when the value of Flash Acquisition Mode is set to Responsive.

Visibility

Beginner, Expert, Guru

Values

0.1–99ms

Instruction

Long exposure time is usually used in dark environments, and short exposure time is usually used in bright environment.

1.2.5. Flash: Light Brightness

Parameter Description

Sets the brightness of the structured light projected by the projector when Flash Acquisition Mode is set to Responsive.

Visibility

Expert, Guru

Values

20–100%

Instruction

None

1.2.6. Gain

Parameter Description

This parameter increases the brightness of the 2D image (depth source), but might amplify noise.

Visibility

Expert, Guru

Values

0–16 dB

Instruction

Adjust this parameter when the expected brightness cannot be reached by adjusting Exposure Time, Flash Exposure Time or Light Brightness.

2D images (depth source) obtained with different Gain values (all other conditions identical):

0 5 10

2D image (depth source)

gain 0 2d

gain 5 2d

gain 10 2d

2. 3D Parameters

The parameters in this category affect the images used for calculating depth data, thus affecting the quality of the depth map and point cloud.

Use Exposure Assistant can obtain the recommended exposure parameter values. Click Auto Set to the right of 3D Parameters to open Exposure Assistant.

2.1. Exposure Multiplier

Description

Set the number of Exposure Time.

Visibility

Beginner, Expert, Guru

Values

1–2

Instruction

  • When the Exposure Multiplier exceeds 1, you need to configure the Exposure Time, Gain, and Light Brightness separately for each exposure.

  • With multiple exposure times, the amount of time for obtaining the depth map and point cloud increases. Please try to minimize the number of exposure times while ensuring the data quality.

2.1.1. Exposure Time Extension

Parameter Description

When Fringe Coding Mode is set to Translucent or Reflective, this parameter can be enabled to extend the upper limit of Exposure Time from 30.0 ms to 99.0 ms, meeting the requirements of special acquisition scenarios involving target objects such as black sheet metal parts and black reflective plastics.

Visibility

Guru

Values

Disabled by default.

Instruction

This parameter is unavailable when Fringe Coding Mode is set to Fast or Accurate.

2.1.2. Exposure Time

Parameter Description

Sets the exposure time for acquiring depth data.

When Exposure Multiplier exceeds 1, you need to configure Exposure Time separately for each exposure.

Visibility

Beginner, Expert, Guru

Values

  • When Fringe Coding Mode is set to Fast or Accurate: 0.1–99.0 ms.

  • When Fringe Coding Mode is set to Translucent or Reflective: 0.1–30.0 ms by default; 0.1–99.0 ms after enabling Exposure Time Extension.

Instruction

  • Long exposure time is recommended for dark objects, and short exposure time is recommended for light objects.

  • Exposure times too long or too short both lead to loss of depth information.

2.1.3. Gain

Parameter Description

This parameter increases the brightness of the depth map, but might amplify noise.

When Exposure Multiplier exceeds 1, you need to configure Gain separately for each exposure.

Visibility

Expert, Guru

Values

0–16 dB

Instruction

When the expected brightness cannot be reached by adjusting Exposure Time, adjust this parameter.

Depth maps obtained with different Gain values (all other conditions identical):

0 5 10

Depth map

gain 0 depth

gain 5 depth

gain 10 depth

2.1.4. Light Brightness

Parameter Description

This parameter affects the brightness of the projected structured light.

When the Exposure Multiplier exceeds 1, you need to configure the Light Brightness separately for each exposure.

Visibility

Expert, Guru

Values

20–100%

Instruction

None

2.2. Projector

2.2.1. Fringe Coding Mode

Parameter Description

Selects the pattern of the structured light to be projected.

Visibility

Expert, Guru

Values

  • Fast: suitable for opaque, non-reflective objects, provides fast acquisition speed, but the depth data quality is lower.

  • Accurate: suitable for opaque, non-reflective objects, provides high-quality depth data, but the acquisition speed is slower.

  • Translucent: suitable for translucent objects, provides high-quality depth data, but the acquisition speed is slower.

  • Reflective: suitable for reflective objects, provides high-quality depth data, but the acquisition speed is slower.

Instruction

Adjust this parameter according to the type of the target object and your actual needs for data quality and data acquisition speed.

  • When Translucent or Reflective is selected, the following tool and parameters are unavailable:
The suitable scenarios of the Translucent option

The Translucent option can greatly improve the quality of depth data for translucent objects. The following are some typical suitable objects:

  • IV fluid bags

  • Plastic test tubes (frosted surface)

  • Plastic packaging (bags, bottles, cans, boxes, etc.)

Meanwhile, the improving effect of the Translucent option has the following limit:

  • For highly transparent objects (such as clear glass test tubes), the improving effect is not significant.

  • For largely curved areas on the objects, the improving effect is not significant.

  • When translucent objects overlap each other, the improving effect is not significant.

  • When the background is light-colored or highly reflective, the improving effect is not significant.

  • When the ambient light is strong or varies frequently, the improving effect is not significant.

  • When using a camera whose 2D image is monochrome, because the projected structured light is blue, if the translucent objects contain blue objects inside, the improving effect is not significant.

  • When the target object is opaque and non-reflective, the point clouds obtained with Fringe Coding Mode set to Accurate and Fast are as follows (all other conditions identical):

    Accurate Fast

    coding accurate

    coding fast

  • When the target object is translucent, the point clouds obtained with Fringe Coding Mode set to Accurate and Translucent are as follows (all other conditions identical):

    Accurate Translucent

    fringe for trans accurate

    fringe for trans translucent

  • When the target object is reflective, the point clouds obtained with Fringe Coding Mode set to Accurate and Reflective are as follows (all other conditions identical):

    Accurate Reflective

    fringe for reflect accurate

    fringe for reflect reflective
2.2.1.1. Reflective: Processing Mode

Parameter Description

Selects the data processing mode for the Reflective fringe coding mode.

Visibility

Expert, Guru

Values

  • Faster: provides faster processing speed, but the depth data might have missing points. Suitable for scenarios with relatively simple reflective conditions.

  • More complete: provides more complete depth data, but the processing speed is slower. Suitable for scenarios with complex reflective conditions, such as a bin whose walls often cause interreflection.

  • Thin Edge Enhancement: provides same processing speed as More complete mode. Recommended for thin metal parts with sharp edges (such as sheet metal parts) to achieve higher depth data quality.

Instruction

Adjust this parameter according to your actual needs for data quality and data acquisition speed.

2.2.2. Anti-Flicker Mode

Description

Flicker refers to the rapid and periodical change in the intensity of artificial light. This phenomenon can cause fluctuations in the depth data. Such fluctuations can be reduced by adjusting the projection frequency of the structured light.

Visibility

Expert, Guru

Values

  • Off

  • AC50Hz

  • AC60Hz

Instructions

Please select the option that corresponds to the frequency of the power supply in your location. The AC frequency in most countries is 50Hz. The AC frequency in the U.S. and some Asian countries is 60Hz.

Anti-Flicker Mode is unavailable when Fringe Coding Mode in the 3D Parameters category is set to Translucent or Reflective.

Depth maps obtained with Anti-Flicker Mode off or on (all other conditions identical):

Off On

anti flicker 1

anti flicker 2

2.2.3. Pulse Flicker Suppression

Parameter Description

When enabled, suppresses the impact of short-duration, low-frequency, rapid, and sudden pulse-like flicker on data acquisition, improving acquisition stability.

Visibility

Expert, Guru

Values

Disabled by default.

Instruction

Pulse Flicker Suppression is unavailable when Fringe Coding Mode in the 3D Parameters category is set to Accurate.

3. Point Cloud Processing

3.1. False Point Removal

Parameter Description

Removes false points from the point cloud. False points are incorrect point cloud data caused by factors such as occlusion of the field of view.

Visibility

Expert, Guru

Values

  • Off

  • Weak

  • Normal

  • Strong

Values

Disabled by default.

3.2. Normal Outlier Removal

Parameter Description

Removes outliers caused by abrupt depth changes, such as large flying points near the bin walls.

Visibility

Expert, Guru

Values

  • Off

  • Weak

  • Normal

  • Strong

Values

Disabled by default.

3.3. Outlier Removal

Parameter Description

Removes the outliers in the point cloud. Outliers are clustered points away from the object point cloud.

Visibility

Beginner, Expert, Guru

Values

0–10

Instruction

  • Higher intensity removes more outliers, and lower intensity removes fewer outliers.

  • If the object point cloud contains multiple parts, high intensities of outlier removal might remove some parts. For example, if the object is a cup, outlier removal might remove the point cloud of the handle part.

3.4. Noise Removal

Description

This parameter removes the noise in the point cloud, thus reducing the impact on the precision and accuracy of subsequent calculation. Noise is the scattered points close to the object surface.

Visibility

Expert, Guru

Values

  • Off

  • Weak

  • Normal

  • Strong

Instructions

  • Higher intensity removes more noise but may also remove some object features. Lower intensity removes less noise but also preserves the object features better.

  • Higher intensity results in slower calculation, and lower intensity results in faster calculation.

Point clouds obtained with different Noise Removal values (all other conditions identical):

Off Weak

noises removal off

noises removal weak

Normal

Strong

noises removal normal

noises removal strong
If this function removes the needed object features, please reduce the intensity. However, more noise will be retained.

3.5. Surface Smoothing

Description

This parameter reduces the depth fluctuation in the point cloud and improve its resemblance to the actual object surface.

Visibility

Beginner, Expert, Guru

Values

  • Off

  • Weak

  • Normal

  • Strong

Instructions

  • Surface Smoothing causes loss of object surface details. Higher intensity causes more object details to be lost. Lower intensity causes fewer object details to be lost.

  • Higher intensity results in slower calculation, and lower intensity results in faster calculation.

Point clouds obtained with different Surface Smoothing values (all other conditions identical):

Off Weak

cloud smoothing off

cloud smoothing weak

Normal

Strong

cloud smoothing normal

cloud smoothing strong

3.6. Gap Filling

Parameter Description

Fills in the gaps in the point cloud so that the object’s surface features are more complete.

Visibility

Expert, Guru

Values

  • Off

  • Weak

  • Normal

  • Strong

Instruction

Adjust this parameter based on the amount of missing points in the point cloud.

3.7. Stripe Contrast Threshold

Description

This parameter is used to remove noise in the point cloud. Adjust this parameter if the level of noise in the point cloud is still high after adjusting Outlier Removal and Noise Removal.

Visibility

Beginner, Expert, Guru

Values

1 to 100

Instructions

  • Greater value of this parameter results in more points being removed. Smaller value results in fewer points being removed.

  • Increase the value of this parameter can remove the noise in the point cloud, but may also cause the points of dark objects to be lost.

Point clouds obtained with different Stripe Contrast Threshold values (all other conditions identical):

3 15 30

signal contrast threshold 3

signal contrast threshold 15

signal contrast threshold 30

3.8. Edge Artifact Removal

Description

This parameter removes artifacts in the point cloud of the outer contour regions or geometric bends of an object. Artifacts are erroneous data that do not actually exist at the object’s edges. However, they are generated in the point cloud due to field of view occlusion or other factors.

Visibility

Expert, Guru

Values

Disabled by default.

Instruction

  • If the point cloud contains artifacts in the outer contour or geometric bends regions of the object, and the final result is affected, it is recommended to enable this parameter.

  • If the object’s point cloud contains surfaces with small angles relative to the Z-axis of the camera reference frame, these surfaces are more likely to have their point cloud data removed when the angle becomes smaller.

In this image, the yellow points are artifacts.

artifact

Point clouds when Edge Artifact Removal is disabled or enabled:

Disabled Enabled

edge artifact removal disable

edge artifact removal enable

4. Depth Range

Description

Set a Z-direction ROI for the depth map and point cloud. Depth Range can be set within the camera working distance, and the data outside the range is removed from the depth map and point cloud.

Visibility

Beginner, Expert, Guru

Instructions

  • Depth Range should be adjusted to an appropriate range to ensure the completeness of depth data in the depth map and point cloud. Too large a range may introduce interference, and too small a range may remove the data of key features.

  • For detailed instructions, please refer to Set Depth Range below.

The same point cloud with different Depth Range values (all other conditions identical):

Too large Appropriate Too small

depth large

depth moderate

depth small

depth large 1

depth moderate 1

depth small 1

Set Depth Range

Follow these steps to adjust Depth Range:

  1. Click Edit on the right of Depth Range to open the Set Depth Range window.

  2. Click Refresh point cloud at the top of the right panel to obtain the newest point cloud.

  3. Adjust the position of the point cloud: adjust the position until you can see the two gray rectangles that represents the upper and lower limits of Depth Range.

    set depth range

  4. Adjust the depth range: drag the handles on the slider to adjust Depth Range roughly. Then, enter specific values on the right to fine-tune Depth Range.

    Judge if the depth range is appropriate: All needed object features are located between the two gray rectangles, and most noise and outliers are located outside.

  5. Click Save to save the depth range settings.

  • Click Recommended range to adjust Depth Range to the recommended working distance of the current camera.

  • Click Reset to restore Depth Range to the last saved values.

5. Region of interest

Description

Set the ROI on the XY plane for the depth map and point cloud. Points outside the selected region are removed.

Visibility

Beginner, Expert, Guru

Values

N/A

Instructions

For detailed instructions, refer to Set ROI below.

Set ROI

  1. Click Edit on the right of ROI to open the Set ROI window.

  2. Select and adjust the ROI on the left. Drag the selection box to move it. Drag the handles on the box to adjust the box size.

  3. Click Apply to apply the set ROI.

    quick setroi

    • Click Clear to remove the current ROI.

    • The interface displays the 2D image (depth source). If the image is too dark or too bright, please adjust Exposure Mode in the 2D Image (Depth Source) subcategory.

  4. Acquire data again and view the depth map or point cloud to check the result of setting the ROI.

    quick setroi 1

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