Reflection Filter(反射过滤器)

反射过滤器会移除Zivid认为受到反射影响而产生的错误的点。 这些点通常在点云中看起来像"幽灵平面"——漂浮在空中的不应该出现的小点区域。

因为Zivid知道它从投影仪发出的信号应该是什么样子,所以可以评估相机读回的数据是否有意义。 因此,反射过滤器会尝试移除被认为由于以下原因之一而被篡改的像素:

  • 相互反射

  • 场景中过大的移动

  • 交替的外部光源

    • 例如,第二台Zivid 3D相机同时投射光信号到同一场景上。

建议使用以下设定值:

数值

条件

Enabled::no

如果场景中没有反射现象,并且您想优化采集时间。

Enabled::yes

如果您在检测反光部件或置于光反射性容器内的部件时遇到问题,请打开该过滤器。

禁用和启用了反射过滤器

The Reflection filter has two modes: Global (default) and Local. These modes have different benefits and downsides, depending on the used Vision engine.

模式

优点

Mode::global

  • Higher dynamic range with lower exposure

Mode::local

The images below highlight the main advantage of Global mode, its higher dynamic range, as can be seen on the coverage on shiny black objects in this scene.

Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode

Although Local mode has a reduced dynamic range, this can be compensated for by increasing the exposure time, as demonstrated in the comparison images.

Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode (increased exposure) Reflection Filter - Local mode (increased exposure)

The images below illustrate the benefits of Local mode.

Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode
Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode
Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode
Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode

模式

优点

Mode::global

  • Preserving the sides and edges of objects

  • Removing outlier points in the point cloud

Mode::local

The images below highlight the main advantages of Global mode: better data on object sides and edges, and fewer outliers.

Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode
Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode

The floating points (outliers) that Local mode cannot remove are typically removed by the Cluster Filter.

The images below illustrate the benefits of Local mode: preserving data on thin and pointy objects.

Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode
Reflection Filter - Global mode Reflection Filter - Global mode
Reflection Filter - Local mode Reflection Filter - Local mode

反射过滤器(Global模式)在每次3D捕获中会增加以下处理时间:

No additional processing time is added when using the Omni engine.

hidden
2+R2+2
High-end NVIDIAHigh-end IntelHigh-end NVIDIAHigh-end IntelHigh-end NVIDIAHigh-end Intel
Filters
ReflectionGlobal6 ms (±1)10 ms (±1)5 ms (±1)11 ms (±2)14 ms (±8)30 ms (±5)
ReflectionLocal0 ms (±0)0 ms (±0)0 ms (±0)0 ms (±0)0 ms (±0)0 ms (±0)

版本历史

SDK

变更

2.16.0

Reflection filter mode Local can now be used with the Omni engine.

2.12.0

Stripe Engine 已从实验性功能中移除。反射过滤器的 Local 模式现在速度提高了至多 15%。

2.11.0

反射过滤器的 Local 模式现在可与 Stripe engine一起使用了。

2.7.0

反射过滤器增加了Local模式。旧模式被重命名为Global。

1.4.0

改进了反射过滤器以移除更少好的点。