二次开发流程

基本采集数据

一般的数据采集采集流程包括设备初始化，日志配置，创建设备列表，打开 设备，采集原始数据，获取深度和灰度数据，获取点云数据关闭设备等操作。

接口调用采集说明

SmartToF SDK在采集时的API接口调用流程如下图所示：

../../_images/采集接口流程.jpg

参数设置和读取示例

模组的参数设置和读取分别通过调用dmcam_param_batch_set和dmcam_param_batch_get实现，可以设置积分时间、帧率等参数，也可读取模组信息、温度等参数，具体参数说明参考下面的的主要参数说明。

主要参数说明

模组的参数类型在dmcam_dev_param_e的枚举类型中，如下:

typedef enum {
        PARAM_DEV_MODE = 0,
        PARAM_MOD_FREQ,

        PARAM_INFO_VENDOR,
        PARAM_INFO_PRODUCT,
        PARAM_INFO_CAPABILITY,
        PARAM_INFO_SERIAL,
        PARAM_INFO_VERSION,   //HW&SW info
        PARAM_INFO_SENSOR,    //part version, chip id, wafer id

        PARAM_INFO_CALIB,     //get calibration info
        PARAM_ROI,            //ROI set/get
        PARAM_FRAME_FORMAT,   //frame information,eg.dcs1for gray,4 dcs for distance
        PARAM_ILLUM_POWER,    //illumination power set/get
        PARAM_FRAME_RATE,     //frame rate set/get
        PARAM_INTG_TIME,      //integration time set/get
        PARAM_PHASE_CORR,     //phase offset correction
                                                  //PARAM_SWITCH_MODE, /*>swith mode use[gray,3d]*/
        PARAM_TEMP,           //<Get camera temperature--------------
        PARAM_HDR_INTG_TIME,  //<Setting HDR integration time param
        PARAM_SYNC_DELAY,     //<delay ms for sync use
        PARAM_ENUM_COUNT,
}dmcam_dev_param_e;

参数代码示例

  • 进行参数设置:

    dmcam_param_item_t wparam;
uint16_t intg_time = 700;                       //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);
assert(dmcam_param_batch_set(dev,&wparam,1));   //调用API进行单个参数设置

  • 进行参数读取:

    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

滤波功能使用

SDK中支持对模组进行像素校准使能、最小幅值滤波、自动曝光等fliter功能的使用，filter类型参考dmcam_filter_id_e的说明。

主要滤波功能说明

模组的滤波类型在如下的枚举类型中:

typedef enum {
        DMCAM_FILTER_ID_LEN_CALIB,    /**>lens calibration*/
        DMCAM_FILTER_ID_PIXEL_CALIB,  /**>pixel calibration*/
        DMCAM_FILTER_ID_MEDIAN,       /**>Median filter for distance data*/
        DMCAM_FILTER_ID_RESERVED,        /**>Gauss filter for distance data*/
        DMCAM_FILTER_ID_AMP,          /**>Amplitude filter control*/
        DMCAM_FILTER_ID_AUTO_INTG,    /**>auto integration filter enable : use sat_ratio to adjust */
        DMCAM_FILTER_ID_SYNC_DELAY,   /**> sync delay */
        DMCAM_FILTER_ID_TEMP_MONITOR, /**>temperature monitor */
        DMCAM_FILTER_ID_HDR,          /**>HDR mode */
        DMCAM_FILTER_ID_OFFSET,       /**> set offset for calc distance */
        DMCAM_FILTER_ID_SPORT_MODE,   /**> set sport mode */
        //-------------------
        DMCAM_FILTER_CNT,
}dmcam_filter_id_e;

滤波代码示例

  • 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

  • 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