EPC TOF cam 635, Инструкция по установке и эксплуатации, Страница: 19 / 39

9.9. SET_AVERAGE_FILTER [0x0A]
This spatial filter uses a 2x2 pixel sliding window. It averages the distance values of the four pixels and places the result to the upper left
pixel in the 2x2 window (refer to Figure 13). The sliding window is shifted all across the image. The last row and column of the image
remain as they are.
Figure 13: Example of a 2 x 2 pixel sliding window for the median filter,
sliding means, do the same for all columns and rows of the image
Parameter byte 0: 0 = disabled ( default ), 1 = enabled
others: 0
Response type 0x00: ACK
Response time t
PROC
: ~ 25µs
Example
Command e.g. | 0xF5 | 0x0A | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x1E 0x19 0x54 0x95 | (Average filter enabled)
9.10. SET_MEDIAN_FILTER [0x0B]
This spatial filter uses a 3x3 pixel sliding window. It selects the median value of the 9 pixel in the window and places the result to the
center pixel in the 3x3 window (refer to Figure 14). The sliding window is shifted all across the image. First and last row as well first and
last column of the image remain as they are.
Figure 14: Example of a 3 x 3 pixel sliding window for the median filter,
sliding means, do the same for all columns and rows of the image
Parameter byte 0: 0 = disabled ( default ), 1 = enabled
others: 0
Response type 0x00: ACK
Response time t
PROC
: ~ 25µs
Example
Command e.g. | 0xF5 | 0x0B | 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0x00 0xAE 0x14 0x3E | (median filter enabled)
9.11. SET_INTERFERENCE_DETECTION [0x11]
Set interference detection settings.
Parameter byte 0: 0 = disabled, 1 = enabled ( default )
byte 1: 0 = mark pixel with status code, 1 = use last valid value ( default )
byte 2/3: interference detection limit ( default 500 )
others: 0
Response type 0x00: ACK
Response time t
PROC
: ~ 25µs
Example
Command e.g. | 0xF5 | 0x11 | 0x01 0x01 0x90 0x01 0x00 0x00 0x00 0x00 | 0x93 0xD8 0x1B 0x77 | (enabled, use last value, 400lsb)
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Characteristics subject to change without notice
19 / 39 Installation_and_Operation_Manual_TOF>cam_635-V0.21
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1 4 0 1 3 1 1 4 0 1 3 1
2 2 4 2 2 3 2 4 4 2 2 3
1 4 6 0 1 0 1 0 1 0 1 0
1 2 1 0 2 2 1 2 1 0 2 2
2 5 3 1 2 5 2 5 3 1 2 5
1 1 4 2 3 0 1 1 4 2 3 0
average: (2+4+4+6) / 4 = 4
1 4 0 1 3 1 1 4 0 1 3 1
2 2 4 2 2 3 2 1 4 2 2 3
1 0 1 0 1 0 1 0 1 0 1 0
1 2 1 0 2 2 1 2 1 0 2 2
2 5 3 1 2 5 2 5 3 1 2 5
1 1 4 2 3 0 1 1 4 2 3 0
sorted: 0,0,1,1,1,2,2,4,4