FIRMWARE 0.16.23 RELEASE NOTES

The following release note provides an overview of the features of the Firmware 0.16.23 Version. Please refer to the ifm O3Rs website www.ifm3d.com for further information.

Previous Releases

Previous firmware release is version 0.14.23.

Compatible software versions

It is recommended to use this firmware release with the following software package versions.

Software	Version
ifmVisionAssistant	>=2.6.7
ifm3d-library	>=1.1.1

Compatible Video Processing Platforms

This firmware release can be applied to the following ifm video processing platforms:

Article	Description
OVP800	series product (without IMU)
M04239	ODS pre-series sample (with IMU)

Supported Camera Articles

This firmware release supports the following ifm camera articles:

Camera Article	Description	Available Modes	Comment
O3R222	3D: 38k 224x172, 60°x45° IP50 2D: 1280x800, 127°x80°	standard_range4m, standard_range2m, cyclic_4m_2m_4m_2m standard_autoexposure2D, standard_manualexposure2D
O3R225 AB	3D: 38k 224x172, 105°x78° IP50 2D: 1280x800, 127°x80°	standard_range4m, standard_range2m, cyclic_4m_2m_4m_2m standard_autoexposure2D, standard_manualexposure2D
O3R225 AC	3D: 38k 224x172, 105°x78° IP50 2D: 1280x800, 127°x80°	standard_range4m, standard_range2m, cyclic_4m_2m_4m_2m standard_autoexposure2D, standard_manualexposure2D	improved fish-eye model

New Features

Library: ifm3d

• complete API-redesign of ifm3d-library:

  • version >= 1.1.0, refer to the ifm3d changelogs. This is a breaking change, follow the migration guide for details on migrating existing code

Connectivity:

• USB support

  • USB flash thumb drive / USB SSD support: fat32 and ext4 support. For ext4 the VPU oem user id needs write access

  • auto-mounting of USB devices (may require reformatting)

• CAN

• ETH

  • fallback IP if DHCP is selected for ETH0 and ETH1 and no DHCP server is present

RGB-Camera Features

• Added manual modes: settings available for

  • Exposure time

  • Framerate

Synchronization and trigger

• SNTP support added, configurable through JSON

• Imager synchronization

  • 3D imagers in RUN state having the same acquisition/framerate are now hardware synchronized (individual acquisition/delay possible)

Intrinsic calibration

• Camera heads O3R225AC are calibrated in production with an improved fish-eye model

  • To use these heads an update to FW >= V0.16.23 and ifm3d-library version >= 1.1.1 is required

• TOF info chunk

  • 2D intrinsic model parameters available

  • 2D inverse intrinsic model parameters available

  • 3D intrinsic model parameters available

  • 3D inverse intrinsic model parameters available

  • Possibility to register 2D and 3D images

Diagnosis

• Diagnosis data

  • accessible through ifm3d library

  • Camera specific diagnosis information

  • Application specific diagnose information

  • Example: temperature information for all system components

Cross-talk mitigation

• Imager synchronization in combination with channel implementation effectively mitigates crosstalk between heads on the same VPU

Application Concept

• ODS - Obstacle Detection System (only for article: M04239, refer to specific documentation)

LED

• Port LEDs off, if no camera head is detected

• Port LEDs will blink, if the port is in error state

• Status LED: turns red, if any ERROR is present

Fixes

3D-Camera Features

• 3D specific distance image / point cloud estimation fixes: close proximity distance measurements improved

• 3D timestamps fixed

Known Issues

• Connectivity: ports must be connected pairwise with the same head-type: [Port0,Port1] [Port2,Port3] [Port4,Port5]

• For FW version >= 0.16.23 the heads default state is CONF. Change to RUN mode to receive data.

• Software trigger:

  • A IDLE state configuration has to be applied twice to take effect: IDLE -> RUN -> IDLE

  • The first software trigger command may not be accepted by the device: send software trigger commands (via API) multiple times

• Automatic channel selection per imager not yet implemented. It is advised to set all head channel values differently

  • Channel difference of >=2 digits improves crosstalk mitigation

• If the initial download of the calibration file from the head was corrupted, the head can not be used. Make sure not to interrupt power until all connected port LEDs are active (=green)

• Downgrading to firmware 0.14.23 is not recommended

• No backward compatibility: once a camera heads is attached to a VPU running FW 0.16.23 it will be updated and no longer work on a VPU running FW 0.14.23

• Loss of extrinsic calibration information of all heads, if the head connectivity is changed (any head added or removed)

• The IPv4 discovery feature for discovering a device on the local network is not working

• ODS must not be used together with user-defined Docker containers

• ODS startup time high (~5s)

• ODS in pre-series state (refer to ODS documentation)

Look forward to these features in future releases

• more user flash memory