Couldn't get the edges of Depth Image when using MVTec Halcon

[mustaqimasri]

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Required Info
Camera Model	{ D455 }
Operating System & Version	{Win (10)
Kernel Version (Linux Only)	(n.a.)
Platform	PC
Language	{Halcon}
Segment	{Others}

Issue Description

Hi there, we have a Realsense Depth Camera D455 that we plan to use for checking the dimension of the box. We set the camera at the height of 2meter and plan to capture the depth image of the box, and from the depth image we are going to do some image processing later. Currently, we are using MVTec Halcon(Realsense interface) for our development and here is our result. The red circle is the box that we target to capture.

These are the parameter that we use in our implementation:
set_framegrabber_param(AcqHandle, 'SourceSelector', 'Depth')
set_framegrabber_param(AcqHandle, 'ComponentSelector', 'Intensity')
set_framegrabber_param(AcqHandle, 'ComponentEnable', 100)
set_framegrabber_param(AcqHandle, 'DepthResolution', '848x480')
set_framegrabber_param(AcqHandle_3D, 'LaserPower', 360.0)

My question is, how can we improve the result for the box? Is there a way we can get the edge of the box or the exact square shape of it? Any parameter in MVTec Halcon, configuration on the camera or suggestions can be made, please suggest.

Thank you in advance for your help.

[MartyG-RealSense]

Hi @amar-mustaqim The color shades of the cardboard box and the floor are similar, so the box does not stand out strongly on the depth image.

Are you able to set a RealSense Visual Preset camera configuration from within the MVTec Halcon? If so then setting the Medium Density preset may help to sharpen the edges of a 'blobby' cardboard box on the depth image whilst also providing accuracy, as demonstrated in a discussion about overhead depth-sensing of cardboard boxes at #7021

[mustaqimasri]

Hi @MartyG-RealSense , I have tried to test with different color background which are white and dark blue color, and I tried the Medium Density preset setting as suggested. However the result still same as before, no edges appeared for the box at the distance of 2meter from the camera.

Result of dark blue color background:

Result of white color background:

Result with Medium Density preset:

[MartyG-RealSense]

Are you able to use auto-exposure instead of a fixed manual exposure value of 33000? If you can use auto-exposure then please try setting ExposureAuto to On, as the current Off status of that setting in the above image suggests that auto-exposure is disabled.

[mustaqimasri]

The ExposureAuto is already set to On by default in MVTec Halcon during the image acquisition, so even though I'm using auto-exposure the edge of the image still not captured. That's why I try changing the manual exposure value, which automatically will disable the ExposureAuto but, the result still same.

[MartyG-RealSense]

The depth images look very dark even though the RGB images show that there is good illumination. Could you try setting EmitterAlwaysOn to On (it is Off in the image of the settings) to make sure that the camera's dot pattern projection is active.

[MartyG-RealSense]

Hi @amar-mustaqim Do you require further assistance with this case, please? Thanks!

[mustaqimasri]

Hi @MartyG-RealSense , yes I'm still need your help for this case but not immediately, maybe at the end of this month I'll come back for this case. As for now, we just lower down our camera setup until it able to get the edge of the box because we are focusing on the algorithm to measure the box dimension first.

[MartyG-RealSense]

Okay, that's no problem at all to come back to the case at the end of the month. Thanks very much for the update!

[MartyG-RealSense]

Hi @amar-mustaqim Do you have an update about this case that you can provide, please? Thanks!

[mustaqimasri]

Hi @MartyG-RealSense I can say that this issue already solve and I will close it. Thank you so much for your assist. Cheers!

[MartyG-RealSense]

That's great news that you achieved a solution, @amar-mustaqim - thanks very much for the update :)

[vpenev77]

Hi, I'm trying to grab a 2d rgb image using realsense and halcon but it doesn't work. Can you help me

[MartyG-RealSense]

Hi @vpenev77 If you are using MVTec Halcon then there is documentation for its RealSense interface at the link below.

https://www.mvtec.com/products/interfaces/documentation/view/18111-3d-camera-1811-progress-mvtecdoc-realsense

The documentation advises that the parameter color_space can be set to the value rgb instead of its default setting of 'default'.

Which RealSense camera model are you using, please?