Configuration

Property	Type	Description	Default	Minimum	Maximum
`configuration/activePorts`	array	List of active ports. At least one port listed in vo/ports must be in the list.	[‘port2’, ‘port3’]	N/A	N/A
`configuration/grid/maxHeight`	number	Maximum detection height in [m].	2.0	0.25	10.0
`configuration/grid/overhangingLoads`	array	The overhanging loads are ignored during object detection. For more details, please refer overhanging loads	[]	N/A	N/A
`configuration/grid/rangeOfInterest`^new	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
`configuration/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
`configuration/maxNumSimultaneousCameras`	integer	The maximum number of simultaneously cameras in activePorts. Increase this setting if your ODS application uses 3 cameras at the same time.	2	1	3
`configuration/portX/acquisition/channelValue`	integer	N/A	4	-100	100
`configuration/portX/negObst/enableNegativeObstacles`	boolean	Enable the detection of negative obstacles	False	N/A	N/A
`configuration/portX/seg/minObjectHeight`	number	minimum height above ground in [m] for segmented object pixels	0.025	0.0	1.0
`configuration/version/major`	integer	Major part of the version number.	N/A	0	N/A
`configuration/version/minor`	integer	Minor part of the version number.	N/A	0	N/A
`configuration/version/patch`	integer	Patch part of the version number.	N/A	0	N/A
`configuration/vo/voPorts`	array	List of ports suitable for visual odometry. VO will be applied with the first active port in the list.	[‘port2’, ‘port3’, ‘port4’]	N/A	N/A
`configuration/zones/zoneConfigID`	integer	Will be looped through to the output and can be used to identify zone configurations.	0	N/A	N/A
`configuration/zones/zoneCoordinates`	array	The coordinates of the configured zones.	[]	N/A	N/A
`configuration/zones/zoneType`^new	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
name	string	User-defined application name	N/A	N/A	N/A
`ports`	array	The ports that can be used by the application (camera heads and `IMU`)	[‘port6’, ‘port0’]	N/A	N/A
`presets/command`^new	string	Preset command to be executed. For more details, please refer presets documentation	nop	N/A	N/A
`presets/definitions`^new	object	Preset definitions	{}	N/A	N/A
`presets/load/identifier`^new	integer	Preset identifier to be applied	0	0	127
`presets/location`^new	string	Location at which presets are applied	N/A	N/A	N/A
`state`	string	Application state	CONF	N/A	N/A

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 and minObjectHeight 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*.
The general configuration of ports ({"ports":{"port2":...}}) must not be changed by the user.

Channel value

The 3D imagers use the iToF - indirect Time of Flight - technology to estimate 3D data. Due to this technical approach, it might happen that two heads are interfering with each other. Providing different channel values (that is, slightly different modulation frequencies), from -100 up to 100 channel value, for each head helps mitigate this issue. Pick channel values at least two digits apart of each other.

{
    "applications":{
        "instances":{
            "appX":{
                "configuration": {
                    "port2": {
                        "acquisition": {
                            "channelValue": -10
                            }
                    },
                    "port3": {
                        "acquisition": {
                            "channelValue": 10
                        }
                    }
                }
            }
        }
    }
}

Note

Since the application takes ownership of the ports that it uses and is able to reset their parameters, the port parameters relevant to the application have to be set within the port section of the application configuration, and not directly in the top level port settings.

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
                            }
                        }
                    }
                }
            }
        }
    }
}

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 [].