M2D-Laser-Scanner with Ethernet-Interface
Manual
HB-M2D-Ethernet-E
Page 32 of 39
www.MElsensor.com
// M2DHardwareInfo
// get some information about sensor hardware
// fills out the M2DHWInfo struct
int M2DHardwareInfo (M2DInfo *inf, M2DHWInfo *hw)
{
int i, res;
long tmp;
do{
res = M2DStatusInt (inf,32,2,&hw->ccdh); if(res<0) break;
res = M2DStatusInt (inf,34,2,&hw->ccdh); if(res<0) break;
res = M2DStatusInt (inf,36,4,&hw->ccdh); if(res<0) break;
res = M2DStatusInt (inf,32,2,&hw->ccdh); if(res<0) break;
res = M2DStatusInt (inf,40,2,&tmp); if(res<0) break;
hw->amb=tmp;
res = M2DStatusInt (inf,42,2,&tmp); if(res<0) break;
hw->mb=tmp;
res = M2DStatusInt (inf,44,2,&tmp); if(res<0) break;
hw->sbAmb=tmp;
res = M2DStatusInt (inf,46,2,&tmp); if(res<0) break;
hw->sbEmb=tmp;
res = M2DStatusInt (inf,30,1,&hw->opt1); if(res<0) break;
if (hw->opt1 & 8 == 0) {
hw->amb /=10.f;
hw->mb /= 10.f;
hw->sbAmb /=10.f;
hw->abEmb /=10.f;
}
res = MwDStatusInt(inf,48,2,&hw->maxZ); if (res<0) break;
res = MwDStatusInt(inf,50,2,&hw->maxX); if (res<0) break;
res = MwDStatusInt(inf,2,1,&hw->controllerVersion); if (res<0) break;
res = MwDStatusInt(inf,3,1,&hw->cameraVersion); if (res<0) break;
res = MwDStatusInt(inf,0,1,&hw->temperature); if (res<0) break;
if (hw->temperature>127){
hw->temperature -= 128;
}else{
hw->temperature = ~hw->tempe 1;
}
} while (0);
return res;
}
// M2DFilter
// minimalistic filter, removes all definitive invalid values and
// converts to float
void M2DFilter (int anz, int *x, int *z, int *intens, int minIntens,
int *fanz, float *xf, float *zf)
{
int i, cnt;
cnt = 0;
for (i=0;i<anz;i++){
if (x[i]>0 && x[i]<4095 && z[i]>0 && z[i]<4095 && intens[i]>=minIntens){
Xf[cnt] = x[i];
Zf[cnt] = z[i];
cnt++;
}
}
*fanz = cnt;
}
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*scanner = 0x18;
*scanner = 1 | 0x80;
For (y = 0; y < 31 ; y++)
{
