Turn off flipping coordinate system
We are using the HCP-6320HA cameras in a closed loop control to follow our mill during machining.
When the camera tilt angle increases beyond 92 degrees, the image flips so that the image orientation makes sense to the viewer. This is a desirable feature, and we want to keep it. The issue is that when the image flips, the internal tilt coordinate system flips so that tilting in a positive direction decreases the tilt angle. Then, when the tilt angle drops below 87 degrees, the internal tilt coordinate system reverts to normal so that tilting in a positive direction increases the tilt angle. This is rather intuitive to a user since tilting up always results in the image moving higher regardless of whether the image has flipped or not. This is not intuitive to a control system.
This behavior breaks the closed loop control since the camera’s response to a tilt velocity command is not reliably executed in the same direction. The camera follows the mill perfectly as desired until the tilt angle goes above 92 degrees. At this point, suppose the control system asks the camera to tilt +1 deg/s to try to achieve 94 degrees. The camera has flipped the image and the tilt coordinate system, so a +1 deg/s command decreases the tilt angle to 90 degrees. The control system sees a larger error and commands +2 deg/s to try to get to 94 and the camera responds by tilting to 86 degrees. This continues in the unstable manner until the camera has reached the minimum tilt angle, and it gets stuck there.
Please provide a way to turn off the internal coordinate system flipping so we can use closed loop controls.
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تعليق رسمي
Hi Joseph,
Thank you for your detailed response in regards to the cameras behavior.
Are you advising that the lens itself is flipping or it's the camera digitally flipping the image itself.
If so there is and image flip setting but that is static not automated so I'm doubting that is what you are referring to.
There is a feature in the camera referred to as Image Hold and this will display the preset video in still images until the orientation of the camera reaches the preset position at a group or tour
movement.
This is useful if you want to monitor the video while preventing a
possible visual distraction of the observer and this can be turned on or off.Can you advise if this is what you are referring to as I don't see any other settings in the camera to make these adjustments.
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