EPC TOF cam 635, Installation And Operation Manual, Page: 36 / 39

14.3. Dynamically reconfigurable parameters
Refer for details on the dynamically reconfigurable parameters to the enclosed “dynamic_reconfigure package” or to
http://wiki.ros.org/dynamic_reconfigure.
Detailed descriptions of the parameter's functions are listed in Chapter 8 and following of this document.
Parameter Function Data format Default Reference
~image_type Sets the image acquisition type
0: Grayscale
1: Distance
2: Distance and amplitude
3: Distance and grayscale int 1 10.5 …
10.8
~mode Sets the operation mode
0: Mode 0 - WFOV
1: Mode 1 - NFOV
2: Mode 4 - WFOV and NFOV spot
3: Mode 5 - Either WFOV, if object is inside range,
else NFOV spot
int 0 9.4
~start_stream Enables image streaming bool False 10.1, 9.16
~trigger_single_shot Starts single measurement after change from false to true bool False 10.1
~hdr Sets HDR mode:
0: HDR OFF
1: HDR spatial
2: HDR temporal int 0 9.5
~automatic_integration_time Automatic mode: Integration time is set automatically for
WFOV and NFOV between 1 and 1'000 μs. bool False 9.2
~integration_time_0 Sets the WFOV integration time for distance measurements
in microseconds. Range: 1 … 4'000 µs int 200 9.2
~integration_time_1 int 0
~integration_time_2 int 0
~integration_time_3 int 0
~integration_time_4 Sets the NFOV integration time for distance measurements
in microseconds. Range: 1 … 4'000 µs int 200 9.2
~integration_time_5 int 0
~integration_time_gray Sets the integration time for grayscale measurements
in microseconds. Range: 0 … 50'000 µs int 0 9.3
~temporal_filter_factor_WFOV Sets the factor 'k' of the WFOV temporal filter (Kalman) int 10 9.7
~temporal_filter_threshold_WFOV Sets the threshold 'T' of the WFOV temporal filter (Kalman) int 300
~temporal_filter_factor_NFOV Sets the factor 'k' of the NFOV temporal filter (Kalman) int 10 9.8
~temporal_filter_threshold_NFOV Sets the threshold 'T' of the NFOV temporal filter (Kalman) int 300
~spatial_average_filter Enables the spatial average filter for distance filtering bool False 9.9
~spatial_median_filter Enables the spatial median filter for distance filtering bool False 9.10
~min_amplitude_0 Sets the amplitude limits for WFOV. Range 0 … 2'047 LSB int 50 9.14
~min_amplitude_1 int 100
~min_amplitude_2 int 200
~min_amplitude_3 int 500
~min_amplitude_4 Sets the amplitude limits for NFOV. Range 0 … 2'047 LSB int 200 9.14
~roi_left_x Sets the left edge of the ROI int 0 9.6
~roi_right_x Sets the right edge of the ROI int 159 9.6
~roi_top_y Sets the top edge of the ROI int 0 9.6
~roi_bottom_y Sets the top edge of the ROI int 59 9.6
Table 21: ROS parameter table
© 2019 ESPROS Photonics Corporation
Characteristics subject to change without notice
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