Frequently Asked Questions

Kindly refer to p.57, C. Camera Web Interface, LIPSedge™ AE400 / AE450 Ruggedized 3D Stereo Camera User’s Manual
Visit: https://dev.lips-hci.com/documents-installation-and-setup/lipsedge-ae400/user-manual

For maximum performance, the recommended network speed for LIPSedge™ AE Series is 1000Mbps.

In that scenario, check the following items:

1. Make sure that there is no other equipment using the same IP address as the camera in the same network segment.
2. Connect directly to the camera and the computer. Do NOT connect through the hub or other switch.
3. Configure the camera’s IP address through the camera’s web interface and reboot the camera.

Kindly refer to p.58, C. Camera Web Interface, LIPSedge™ AE400 / AE450 Ruggedized 3D Stereo Camera User’s Manual
Visit: https://dev.lips-hci.com/documents-installation-and-setup/lipsedge-ae400/user-manual

In that scenario, kindly check the following hardware settings:

1. PoE supplier (It must follow at least IEEE 802.at/802.af, supported ethernet 1000Mbps)
2. Ethernet cable (We recommend using CAT-6 cable, or cable with equivalent quality.)
3. Make sure all cables are plugged properly.
4. Eliminate ethernet cables and plugs with poor connection.

The power consumption of LIPSedge™ AE series camera is about 10w. About the protocol, both IEEE 802.at/802.af are supported. For your reference, see the PoE image here: https://fbox.lips-hci.com/s/LXeNWzdCjxeeXXs.

The option adjusts the depth calculation method used by the structured-light camera, as structured-lighted camera projects patterned-laser onto the measured object for depth calculation.

1. Turning the Laser Projection OFF: Depth calculation will be performed using natural light, but because patterns are not projected onto the surface of the measured objects, it will directly reduce some depth information in the image.
2. Laser Projection Enabled: Patterns are projected onto the surface of the measured objects, which can increase the accuracy of depth information in the image.
3. Laser Auto Projection: The intensity of the laser will be automatically adjusted according to the intensity of external light sources.

LIPSedge™ AE400’s depth resolution only supports up to 1280×720@30fps, and 640×480@60fps.

If a special resolution is needed, you may capture the image and then resize it accordingly.

Python example:
depth_colormap = cv2.resize(depth_colormap, (1920, 680), interpolation=cv2.INTER_LINEAR)”

In that case, upgrade the camera firmware using AE400-Toolkit. For details, refer to LIPSedge™ AE400 / AE450 Ruggedized 3D Stereo Camera User’s Manual.

Kindly refer to: https://fbox.lips-hci.com/s/oY54xcnkqgzPRoa

The feature will be supported is versions later than v2.4.4.3_1.3.6, which allows developers to directly change the parameters in {SDK PATH}OpenNI2/Driver/LIPSedge-AE430_AE470.json

Refer to the image and connect each cameras with pin7 & pin8. LIPS Corp. also provide waterproof wires for customers if they are needed. Image: https://fbox.lips-hci.com/s/tR8RyrCF8rmH7Bt

To achieve this, adjust the camera resolution or the disparity shift parameter. For details, refer to LIPSedge™ AE430 / AE470 Ruggedized Stereo Camera User’s Manual.

The ethernet module in LIPSedge™ AT is only up to100Mbps. For LIPSedge™ AT, transference beyond 30 fps is only available for rgb camera or depth camera.

Ignore the message as the calibration data has already been flashed into the camera.

You may download the NiTCPClient.exe at https://fbox.lips-hci.com/s/wjsfewbnJEP7qWy, or visti LIPS Corp.’s Github for its source code.

To achieve this, connect the usb cable then use the Teraterm app to modify the IP address of LIPSedge™ AT. 

To achieve this, modify and save the settings in OpenNI2/Driver/ModuleConfig.json.

To adjust the integral time, refer to OpenNI2/Driver/ModuleConfig.json.

Note: Calibration is required after the adjustment.

LIPSedge™ SDK provides a point cloud viewer in the “Samples” folder, which displays 3D images.

To achieve this, configure the color range and apply it by using cv2.applyColorMap.

Python example:
Trimming depth_array
out_of_range = depth_array > max_distance
too_close_range = depth_array < min_distance
depth_array[out_of_range] = max_distance
depth_array[too_close_range] = min_distance
Scaling depth array
depth_scale_factor = 255.0 / (max_distance – min_distance)
depth_scale_offset = -(min_distance * depth_scale_factor)
depth_array_norm = depth_array * depth_scale_factor + depth_scale_offset
Apply colormap on depth image (image must be converted to 8-bit per pixel first)
depth_colormap = cv2.applyColorMap(depth_array_norm.astype(np.uint8), cv2.COLORMAP_JET)”

To achieve this, refer to https://lips-hci.gitbook.io/lips-developer-documentation/lipsedge-tm-sdk-languages-and-libraries

To achieve this, use the “ImageJ” APP or use RawViewer.exe in the LIPSedge™ SDK.

In default, the exported .ply file will be saved alongside the application (.exe).

The link below covers the sample codes with simple instructions(In README):
https://github.com/lips-hci/LIPSedge-sdk-samples/tree/main
 
These sample codes are also attached in the LIPSedge™ SDK (in the LIPSedgeSamples folder).
 
To access the RGB / depth image simultaneously, refer to “Ni2SimpleViewer-gl”.

To achieve this, follow LIPS Corp.’s github README to setup the environment:
https://github.com/lips-hci/LIPSedge-sdk-wrappers/tree/main/python3

To achieve this, refer to CameraMatrix.exe.

First, activate Registration function in NIViewer:
1. Move the cursor over the video feed
2. Right click the console window
3. Select Device > Registration > Depth → Image
 
Using Registration function in C++:
Refer to the “Registration” section of the Point Cloud Sample Code.
https://github.com/lips-hci/LIPSedge-sdk-samples/tree/main/Ni2PointCloud-gl

In Ni2SimpleViewer-cv, pressing ‘i’ will toggle the display of FPS.

The registration method LIPS Corp. products utilizes is depth to color. Kindly refer to the pointcloud example program in LIPSedge™ SDK.

LIPSedge™ SDK currently supports C#. Kindly refer to the C# example:  https://github.com/lips-hci/LIPSedge-sdk-wrappers/tree/main/csharp

The following examples run on LIPS Corp.’s cameras:

Ni2`CenterRead: To get the depth data of the center pixel.
Ni2PointCloud-gl: To visualize the pointcloud.
Ni2RawViewer-gl: After capture the raw images from NiViewer, you can use this app to see the image.
Ni2SimpleViewer-cv: To visualize both depth image and color image using opencv library.
Ni2SimpleViewer-gl: To visualize both depth image and color image.

To achieve this, refer to TLRemoteDeviceNodemapExtLIPS.xml and select each object.

In that case, make sure that “C://Program Files/OpenNI2/Redist” has been added to system $PATH.

Refer to the Nodemap (.xml) in LIPS Corp.’s GenTL driver package.

Here is an demo solution file(https://fbox.lips-hci.com/s/LygKe2jE9GJ7wFi) for your reference, LIPS Corp. build an demo appplication with 2 buttons. The first button activates the camera and do RGB streaming while the second button releases the camera resource and close the picture window.

Open HalconWinForms.zip and change the following information on your device:
1. Net SDK version
2. MVTec.HalconDotNet version
3. Camera serial number

LIPS Corp. tested the script and discovered the problem was caused by the use of “grab_data” when the recommended function should be “grab_data_async”. The “grab_data” function is typically used for a quick the image capture is expected with no parallel processing needed during image acquisition. If the performance was crucial and a real-time applications is desired, using “grab_data_async” might be better.

In that case, refer to AE400_show_rgb_depth.hdev.

To achieve this, set the following parameters in the script:

set_framegrabber_param (AcqHandle, ‘auto_exposure’, 0)
set_framegrabber_param (AcqHandle, ‘exposure’, 10.0)

To fix this issue, make sure that:

1. LIPS3DGenTL.cti file has been placed in the folder with variable $GENICAM_GENTL64_PATH.
2. Copy folder “”OpenNI2″” from SDK path into C:\Program Files.
3. Add “C:\Program Files\OpenNI2\Redist” into system variable $PATH.

To fix this issue, make sure that no other application is occupying the camera resource.

To fix this issue, make sure that no other application is occupying the camera resource.

Currently, this function is not supported by the standardized product. However, this is customizable. T do so, contact to LIPS Corp.’s sales representative or e-mails info@lips-hci.com.

Yes ! The tripod screw / micro usb hole should be set in the right side of the camera so that the developers can see the image from the proper angle.

Adjustments of these parameters are generally NOT recommended as the calibration of LIPS Corp.’s camera is optimized upon released. For customization needs, contact the sales representatives or e-mail LIPS Corp. at info@lips-hci.com.

To verify camera functionality, use the camera’s official SDK to open the Stereo Module. Once confirmed, reinstall LIPScan 3D and update the camera.json file by setting “camera”: “{your camera module name}”. Retry the application afterward.

If the target is placed on a turntable, avoid including the turntable into the frame when scanning.

LIPSense™ 3D Body Pose SDK currently support ONLY LIPSedge™ AE400 / DL Series or Intel® RealSense™ D400 Series. Paring the LIPSense™ 3D Body Pose SDK with a third-party camera like Orbbec or Kinect would require a customized version of it and extra payment. In that case, contact our sales representatives or e-mail at info@lips-hci.com.

In render3D.cpp, the x.y.z values represent the world coordination, with (0, 0, 0) being the origin of the camera.

Currently, LIPSense™ 3D Body Pose SDK ONLY supports the RAW format. To export the skeleton data with other format, such as the FBX or BVH, a customized version of the SDK and an extra payment are required. In that case, contact our sales representatives or e-mail at info@lips-hci.com 

The resolution of LIPFace™ HW125 is 1280 * 800.

In that case, check the device manager and verify if the camera is detectable.

Currently, the “ID” and “Face recognition data” are stored in the camera by default. To store these data in other devices, customization and extra payment is required. In that case, contact our sales representatives or e-mail at info.lips-hci.com.

Sure, LIPFace™ HW125 utilizes IR and depth for recognition. Thus, it would work even under a poor lighting condition.

It is highly recommended to connect the camera directly to the PC instead of establishing the connection via the USB hub to avoid power supply issues or other unexpected situation.

LIPFace™ HW120 / 125 supports a maximum profile of 1000 people.

For the description of error messages, refer to Error_code_description.xlsx(https://fbox.lips-hci.com/s/NjnJX8jN86jMndx)

These errors are likely influenced by environmental differences. To fix this, hold the camera horizontal (level to the ground), clear any obstacles from the calibration area, and then do the calibration again. To further increase accuracy, place the target at the center of the detection zone.

Such operation is possible, but not the best practice. Contact to our sales representatives or e-mail at info@lips-hci.com to get a compatible MeasureMaster SDK.

These points are the endpoints of the target, as shown in the image. (https://fbox.lips-hci.com/s/BaeFoNEwZxL8DDw)

Postman is the recommended tool for sending the PUT and POST commands.

The HTTP method POST localhost:8080/v1/peripheral/print_label is specifically designed for LIPS-provided label machines. To use this method, a compatible label machine supplied by LIPS is required.

To fix this, follow the steps below:

1.Download and put the file AE430_470_install_ros.sh(https://fbox.lips-hci.com/s/fNoMszrXbQBAMif) inside {SDK Folder}

2.Run AE430_470_install_ros.sh
$ ./AE430_470_install_ros.sh

3.Build ROS2 packages again
$colcon build

4.Run example
$ source ./install/setup.bash
$ ros2 launch openni2_camera camera_only.launch.py

In this case, follow the step below for the setup:

1. tar zxvf multi_lipsedge.tar.gz (https://fbox.lips-hci.com/s/xb8Lcb4HzJ7dkKH)

2. cp * {your ros2 workspace}/isaac_ros-dev/src/realsense-ros/realsense2_camera/launch

3. colcon build –symlink-install –packages-select realsense2_camera

4. source install/setup.bash

And the launch command would be:
one cam: ros2 launch realsense2_camera lipsedge.launch.py
multi cam: ros2 launch realsense2_camera multi_lipsedge.launch.py camera_count:=2

To achieve this, download the LIPSedge™ AE400 SDK (librealsense2-lipsedge_2.43.0-focal~20240722.c6721071_amd64.deb)(https://fbox.lips-hci.com/s/7YqxQNGFiBZ9az9) and follow Quick_Start_ros2_AE450.pdf(https://fbox.lips-hci.com/s/7dgM8nQfdW3Mj26).

1.Download this install_ros.sh and put it in the SDK folder
Install link: https://fbox.lips-hci.com/s/wyJXg8kR3m64xiF

2.Run the install_ros.sh file and install the required packages.
$sudo ./install_ros.sh
$sudo apt-get install libopenni2-0 libopenni2-dev

3.Build a ROS working environment
$mkdir -p ~/LIPSToF_ws/src
$cd ~/LIPSToF_ws/src
$catkin_init_workspace

4.Download this LIPSedge-ros.tar.gz and extract it.Then put it in /LIPSToF_ws/src
$tar zxvf LIPSedge-ros.tar.gz

5.Build ROS pkg
$cd ~/LIPSToF_ws
$catkin_make
$source ./devel/setup.bash

terminal
$roscore
another terminal
$ros launch openni2_launch openni2.launch
another terminal
$rqt

For Ubuntu 22.04 and x86_64 device holder , follow the steps below to resolve the issue:

1.Follow the User’s Manual to install the LIPSedge™ AE430’s SDK.
https://dev.lips-hci.com/documents-installation-and-setup/lipsedge-tm-ae430-ae470/user-guide

2.Follow the README file on GitHub to install LIPSedge-ROS2.
https://github.com/lips-hci/LIPSedge-ros2

3.Copy all files from the drivers folder in the AE430’s SDK to /usr/lib/x86_64-linux-gnu/OpenNI2/Drivers/.
$cd {SDK PATH}/Redist/OpenNI2/Drivers/
$sudo cp * /usr/lib/x86_64-linux-gnu/OpenNI2/Drivers/

4.Go to the following path: /usr/lib/x86_64-linux-gnu/OpenNI2/Drivers/, then run the ln command for libLIPSedge-AE430_AE470.so
$cd /usr/lib/x86_64-linux-gnu/OpenNI2/Drivers
$sudo ln -s libLIPSedge-AE430_AE470.so libLIPSedge-AE430_AE470.so.0

5.If PointCloud2 data are not accessible and the error shown in the image emerges, install the following ROS2 package.
$sudo apt-get install ros-humble-depth*
$sudo apt-get update
$sudo apt-get upgrade

7. Execute the command specified in the README file.
$ros2 launch openni2_camera camera_only.launch.py
$ros2 run rqt_image_view rqt_image_view”

LIPSedge™ M3 uses the OpenNI2 SDK, while LIPSedge™ AE470 uses the Intel™ RealSense SDK. To avoid conflicts when both devices are used simultaneously, change the topic name of one of the devices.