Configuration

Property	Type	Description	Default	Minimum	Maximum	Enum	Attributes
`activePorts`	array	List of active ports. At least one port listed in vo/ports must be in the list.	Depends on the ports configured in ODS application instance.	N/A	N/A	`N/A`	N/A
`maxNumSimultaneousCameras`	integer	The maximum number of simultaneously cameras in activePorts. Increase this setting if your ODS application uses more than 2 cameras at the same time.	2	1	6	`N/A`	[‘conf’]
`vo.voPorts`	array	List of ports suitable for visual odometry. VO will be applied with the first active port in the list.	Depends on the ports configured in ODS application instance.	N/A	N/A	`N/A`	[‘conf’]
`grid.rangeOfInterest`	number	Maximum range of vision in [m] (given in robot coordinates). This parameter affects the grid shape. The grid shape is always quadratic with at least (rangeOfInterest/0.05)*2 cells for the default resolution of 5cm.	5.0	1.0	10.0	`N/A`	[‘conf’]
`grid.maxHeight`	number	Maximum detection height in [m].	2.0	0.25	10.0	`N/A`	N/A
`grid.temporalConsistencyConstraint`	number	Increase number of frames needed for valid object by the factor. Use factors > 1 for dusty conditions.	1.0	1.0	5.0	`N/A`	N/A
`grid.overhangingLoads`	array	The overhanging loads are ignored during object detection.	[]	N/A	N/A	`N/A`	N/A
`predominantMotionDirection`	string	Predominant direction of the vehicle’s motion (with respect to the specified vehicle coordinate system). Use ‘y’ if the vehicle is moving along the y-axis. If the vehicle moves along the x-axis (default), use ‘x’.	x	N/A	N/A	`['x', 'y']`	[‘conf’]
`zones.zoneConfigID`	integer	Will be looped through to the output and can be used to identify zone configurations.	0	N/A	N/A	`N/A`	N/A
`zones.zoneType`	string	If set to convexHull, the zone is defined as the convex hull of the given list of points. If set to polygon, the zone is defined as a filled polygon. In all cases, cells are considered to be part of the zone if and only if the center of the cell is inside the region.	convexHull	N/A	N/A	`['convexHull', 'polygon']`	N/A
`zones.zoneCoordinates`	array	The coordinates of the configured zones.	[]	N/A	N/A	`N/A`	N/A
`enableTimingJitter`	boolean	Enable timing jitter for more robustness against inter-vehicle crosstalk. Note that this feature must not be used if there are non-ODS 3D cameras connected to the VPU.	False	N/A	N/A	`N/A`	[‘conf’]
`^port[0-5]$.seg.minObjectHeight`	number	minimum height above ground in [m] for segmented object pixels	0.025	0.0	1.0	`N/A`	N/A
`^port[0-5]$.negObst.enableNegativeObstacles`	boolean	Enable the detection of negative obstacles	False	N/A	N/A	`N/A`	[‘conf’]
`^port[0-5]$.acquisition.channelValue`	integer	Crosstalk can be avoided by ensuring that cameras have different channels assigned. For overlapping fields of view, pick different values at least two steps apart, for example 0 and 2.	0	-100	100	`N/A`	N/A

Note

Configuration parameters marked with the attribute [conf] can only be modified when the port or application is in the CONF state. Ensure the system is in this state before attempting to change these settings.

Warning

All connected heads have their own specific configuration. However, all heads referenced by the ODS are also configured by the application itself. Only channelValue, minObjectHeight and enableNegativeObstacles can be changed by the user and for each port separately.
From the FW 1.10.13, the default channel values will be set to 2*portNumber. For more details about inter-camera interference refer to the interference mitigation documentation.
The general configuration of ports ({"ports":{"port2":...}}) must not be changed by the user.

Channel values

Warning

The channel value documentation was moved to the interference mitigation documentation.

Minimum object height

It is possible to change the minimum object height to improve ODS for certain conditions. ODS can use several heads for detecting obstacles. The heads themselves might be different (opening angle of 105° or 60°), and the mounting position of the heads can vary. Therefore the minObjectHeight might be different per connected head. The height is provided in [m]. Increasing this value might prevent false positives caused by the floor and/or smaller objects on the ground.

Note

Note that this parameter is not the only factor defining whether an object will be detected or not: switching `minObjectHeight` to zero does not mean that every object will be detected. This is especially true for small objects on the floor, where point cloud artifacts are the most pronounced.

{
    "applications":{
        "instances":{
            "appX":{
                "configuration": {
                    "port2": {
                        "acquisition": {
                            "seg": {
                                "minObjectHeight": 0.025
                            }
                        }
                    },
                    "port3": {
                        "acquisition": {
                            "seg": {
                                "minObjectHeight": 0.040
                            }
                        }
                    }
                }
            }
        }
    }
}

Negative obstacles

For more information regarding the negative obstacles, please refer to this document

Predominant motion direction

From the firmware versions >= 1.20.29, a new diagnostic about the decalibration is introduced to notify the users of any decalibrated cameras and the suggest the estimated extrinsic calibration parameters. To perform this the user has to define the predominant motion direction of the vehicle.

This parameter is used not only for decalibration detection but also in visual odometry. By default, the ODS application assumes the driving direction is parallel to the x-axis of the user’s coordinate system. However, users can specify y as the predominant direction if the vehicle primarily moves along the y-axis.

State

To activate/deactivate the application use the following definition:

Active: RUN
Inactive: CONF

Note

To ensure that restarting the data stream is as quick as possible, we recommend keeping the application always in “RUN” state. For an inactive application, set the activePorts list to an empty list [].