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Chapter 4 Command Description
4-24 Set ENR Threshold (99Hex)
3D TOF Sensor Module B5L User's Manual (No. E596)
4-24 Set ENR Threshold (99Hex)
Sets the edge threshold for ENR (edge noise reduction).
The boundary between pixels that has a larger distance than this threshold is recognized as
the edge.
Command (from host to this product)
Synchroni
zation
code
Comman
d No.
Data length
Data
FEHex
99Hex
00Hex
02Hex
See below for details
Response (from this product to host)
Synchroni
zation
code
Response
code
Data length
Data
FEHex
Normal
end: 00Hex
00Hex
00Hex
00Hex
00Hex
Error:
FFHex to
F0Hex
00Hex
00Hex
00Hex
00Hex
・
Data details
Specify the edge detection threshold (0 to 12499 [mm]) in 2 bytes.
Specifying 0 disables the ENR.
The default value is 0.
ENR (edge noise reduction)
When the distance difference between pixels is large (for example, when the distance
between the measurement target and the background is far away), this function judges the
pixel with a distance difference greater than or equal to the threshold as the boundary
(edge) and outputs the distance and amplitude values of the farther pixel as the low
amplitude.
Lowering the threshold makes it easier to judge an edge, but misjudgments increase when
there is a large variation in distance between pixels.
You can use 500 as a guideline of the threshold to enable the ENR.
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