参数和滤波代码示例¶

模组参数和滤波类型说明已经介绍了模组相关的参数和滤波功能ID, 下面将说明如何设置及获取模组参数以及使能关闭模组的相关滤波功能。

模组参数设置和读取¶

下面以设置和读取模组的曝光时间为例：

进行参数设置:

dmcam_param_item_t wparam;
uint16_t intg_time = 100;                       //表示设置积分的大小 范围为0-1500
memset(&wparam,0,sizeof(wparam));
wparam.param_id = PARAM_INTG_TIME;      //表示设置的参数为积分时间
wparam.param_val_len = sizeof(intg_time);
wparam.param_val.intg.intg_us = intg_time;
assert(dmcam_param_batch_set(dev,&wparam,1));   //调用API进行单个参数设置

dmcam_param_item_t wparam;
uint16_t intg_hdrtime = 700;            //表示设置HDR的积分时间的大小
memset(&wparam,0,sizeof(wparam));
wparam.param_id = PARAM_HDR_INTG_TIME;  //表示设置的参数为积分时间
wparam.param_val_len = sizeof(intg_time);
wparam.param_val.intg.intg_us = intg_hdrtime;
assert(dmcam_param_batch_set(dev,&wparam,1));   //调用API进行单个参数设置

Tip

如果hdr的积分时间设置了不为0，则开启了模组的HDR模式,上面两个积分时间中，下面的HDR的积分要比上面的HDR设的大。

进行参数的读取:

dmcam_param_item_t rparam;
memset(&rparam,0,sizeof(rparam));
rparam.param_id = PARAM_INTG_TIME;      //表示要读取的参数项为积分时间
assert(dmcam_param_batch_get(dev,&rparam,1));   //调用API获取单个参数

其他模组参数的设置获取参照上面积分时间的设置获取。

滤波功能开启和关闭¶

像素校准，开启后用于深度数据的矫正:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_PIXEL_CALIB; //像素校准
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启像素校准
dmcam_filter_disable(dev,DMCAM_FILTER_ID_PIXEL_CALIB); //关闭像素校准

深度滤波，开启后用于对深度数据滤波:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_MEDIAN;   //深度滤波
witem.median_ksize = 3; //深度滤波通常设置值
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启深度滤波
dmcam_filter_disable(dev,DMCAM_FILTER_ID_MEDIAN);       //关闭深度滤波

幅值滤波，开启后过滤质量差的点:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_AMP;      //最小幅值滤波
witem.min_amp = 30;     //设置的最小幅值滤波的阈值
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启最小幅值滤波
dmcam_filter_disable(dev,DMCAM_FILTER_ID_AMP);  //关闭最小幅值滤波

HDR模式，设置一大一小两个积分时间，确保同一个模组在测量远近不同的物体时不会过曝:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_HDR;      //HDR 模式
witem.intg.intg_3d = 100;       //HDR 模式时小的曝光时间
witem.intg.intg_3dhdr = 700;  //HDR 模式时大的曝光时间
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u)); //开启HDR模式

Tip

开启HDR模式的另一种方法是可以直接通过设置HDR的曝光时间不为0，如上面设置积分的样例，两种方法都需要HDR的积分时间设置的比另一个积分时间大。

自动积分时间，开启后根据被测物体的距离自动调整曝光时间大小:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_AUTO_INTG;        //自动曝光
witem.sat_ratio = 5;//自动曝光时设置的值
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启自动曝光
dmcam_filter_disable(dev,DMCAM_FILTER_ID_AUTO_INTG);    //关闭自动曝光

多模组串扰消除，开启消除或者减小多模组同时开启时的串扰:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_SYNC_DELAY;        //串扰延时
witem.sync_delay = 0;   //延时时间设为0时为随机时间
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启串扰延时
dmcam_filter_disable(dev,DMCAM_FILTER_ID_SYNC_DELAY);   //关闭串扰延时

运动模式0，帧格式要设置为2:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_SPORT_MODE;        //运动模式0
dmcam_param_item_t wparam;
uint32_t set_format = 2;        //表示要设置的帧格式为2
memset(&wparam,0,sizeof(wparam));
wparam.param_id = PARAM_FRAME_FORMAT;   //表示设置的参数为帧格式
wparam.frame_format.format = set_format;        //设置的帧格式为2
wparam.param_val_len = sizeof(set_format);
assert(dmcam_param_batch_set(dev,&wparam,1));   //调用API进行帧格式参数设置
witem.sport_mode = 0;   //设置运动模式为0
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启运动模式0
dmcam_filter_disable(dev,DMCAM_FILTER_ID_SPORT_MODE);//关闭运动模式0

运动模式1，帧格式要设置为4:

dmcam_filter_args_u witem;
dmcam_filter_id_e filter_id = DMCAM_FILTER_ID_SPORT_MODE;        //运动模式1
dmcam_param_item_t wparam;
uint32_t set_format = 4;        //表示要设置的帧格式为4
memset(&wparam,0,sizeof(wparam));
wparam.param_id = PARAM_FRAME_FORMAT;   //表示设置的参数为帧格式
wparam.frame_format.format = set_format;        //设置的帧格式为4
wparam.param_val_len = sizeof(set_format);
assert(dmcam_param_batch_set(dev,&wparam,1));   //调用API进行帧格式参数设置
witem.sport_mode = 1;   //设置运动模式为1
dmcam_filter_enable(dev,filter_id,&witem,sizeof(dmcam_filter_args_u));//开启运动模式1
//关闭运动模式1时，帧格式要先恢复到2
set_format = 2;         //帧格式要恢复设置为2
wparam.frame_format.format = set_format;        //设置的帧格式的值为2
wparam.param_id = PARAM_FRAME_FORMAT;   //表示设置的参数为帧格式
wparam.param_val_len = sizeof(set_format);
assert(dmcam_param_batch_set(dev,&wparam,1));   //调用API进行帧格式参数设置2
dmcam_filter_disable(dev,DMCAM_FILTER_ID_SPORT_MODE);//关闭运动模式1