Parameters and filter¶

SmartToF mainly uses the module parameter settings and filter function settings to control the function settings of the module during collection, All module parameter items and filtering function item definitions are in the dmcam.h header file in the SDK.

Module parameter description¶

Module parameter enum type definition

 /**dmcam param ID*/
 typedef enum {
   PARAM_DEV_MODE=0,      /**< device work mode*/
   PARAM_MOD_FREQ,          /**< modulation frequency*/
   PARAM_INFO_VENDOR,      /**< production vendor information*/
   PARAM_INFO_PRODUCT,     /**< production information*/
   PARAM_INFO_CAPABILITY,  /**< production capability*/
   PARAM_INFO_SERIAL,      /**< porduction serials id*/
   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_TEMP,             /**< <Get camera temperature--------------*/
   PARAM_HDR_INTG_TIME,    /**< <Setting HDR integration time param*/
   PARAM_SYNC_DELAY,       /**< <delay ms for sync use*/
   PARAM_SYS_CALIB_COEFF,      /**< system calibration coefficent*/
   PARAM_SYNC_SYS_TIME,       /**< set/get module time*/
   PARAM_AMBIENT_LIGHT_COEFF, /**< set ambient light calibration coeff. */
   PARAM_DUAL_MOD_FREQ,       /**< set mod_freq */
   PARAM_INFO_LENS,           /**< Get lens param */
   PARAM_FLIP,                /**< image flip*/
   PARAM_RESERVED,            /**< rererved*/
   PARAM_INFO_CALIB_FREQ,     /**< calibration information*/
   PARAM_DEL_CALIB_DATA,      /**< Delete calibration data*/
   PARAM_ENUM_COUNT,
 }dmcam_dev_param_e;

Module parameter enum type description

Parameter name	Ranges	Description
PARAM_DEV_MODE		reserved
PARAM_MOD_FREQ	TC-E2,3,4(12,24,36MHZ) TS-3 (10~100MHz)	Frequency should correspond to calibration data
PARAM_INFO_VENDOR	readonly	Digtal Miracle
PARAM_INFO_PRODUCT	readonly	Module name，for example TC-E2-1.0
PARAM_INFO_CAPABLITY	readonly
PARAM_INFO_SERIAL	readonly	unique data
PARAM_INFO_VERSION	readonly	Software and hardware version
PARAM_INFO_SENSOR	readonly	sensor ID
PARAM_INFO_CALIB	readonly	Query calibration data information
PARAM_ROI	320240 320160
PARAM_FRAME_FORMART	TC-E2,3,4 (2,4) TC-S3 15,16,17	TC-E2,3,4 default 2, sport mode1 is 4 TC-S3 default 16
PARAM_ILLUM_POWER		Only TC-S3.1 support
PARAM_FRAME_RATE	1~30	TC-S3 Dual frequency and HDR mode frame rate will be halved
PARAM_INTG_TIME	TC-E series 0-1500 TC-S series 0~1000	exposure time in normal mode
PARAM_PHASE_CORR		reserved
PARAM_TEMP	readonly	Read sensor temperature and illumination board temperature separately
PARAM_HDR_INTG_TIME	TC-E series 0-1500 TC-S series 0~1000	exposure time in HDR mode
PARAM_SYNC_DELAY	0ms-6ms	reserved
PARAM_SYS_CALIB_COEFF		reserved
PARAM_SYNC_SYS_TIME		reserved
PARAM_AMBIENT_LIGHT_COEFF		reserved
PARAM_DUAL_MOD_FREQ	TC-S series 10~100MHz	Only supported TC-S series module
PARAM_INFO_LENS		lens calibration information
PARAM_FLIP		reserved
PARAM_INFO_CALIB_FREQ		Get calibrated frequency list
PARAM_DEL_CALIB_DATA		Delete calibration data and only support in TC-S series modules

Module filter type description¶

Module filtering types include depth filtering, amplitude filtering, automatic exposure, sports mode, etc. defined as follows

/** filter ID  */
typedef enum {
  DMCAM_FILTER_ID_LEN_CALIB,    /**< lens calibration*/
  DMCAM_FILTER_ID_PIXEL_CALIB,  /**< pixel calibration*/
  DMCAM_FILTER_ID_DEPTH_FILTER,  /**< Depth filter */
  DMCAM_FILTER_ID_RESERVED,        /**< RESERVED */
  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_ID_SYS_CALIB,   /**< using system calibration param */
  DMCAM_FILTER_ID_AMBIENT_LIGHT_CALIB,   /**< using ambient light calib calibration param */
  DMCAM_FILTER_ID_FLYNOISE,   /**< fly noise filter */

  DMCAM_FILTER_ID_TEMP_CALIB,/*Temperature calibration*/
  DMCAM_FILTER_ID_MEDIAN = DMCAM_FILTER_ID_DEPTH_FILTER,  /**<  MEDIAN is replaced with depth filter */
  DMCAM_FILTER_CNT,
}dmcam_filter_id_e;

Note

For the parameter value corresponding to each ID, please refer to the filter setting example.

Filter ID	Description
DMCAM_FILTER_ID_LEN_CALIB	lens calibration enable/disable ID
DMCAM_FILTER_ID_PIXEL_CALIB	pixel calibration enable/disable ID
DMCAM_FILTER_ID_DEPTH_FILTER	Depth filter
DMCAM_FILTER_ID_RESERVED	RESERVED
DMCAM_FILTER_ID_AMP	Amplitude filter control, ranges 0~100
DMCAM_FILTER_ID_AUTO_INTG	auto integration filter enable
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 calculate distance
DMCAM_FILTER_ID_SPORT_MODE	set sport mode , for TC-E series module: No sport mode 18ms motion blur ,4xDCS `sport_mode` = 0 ,6ms motion blur ,2xDCS `sport_mode` = 1 , no motion blur, 2xDCS high nosies `sport_mode` = 2 , 6ms motion blur,2xDCS high nosies
DMCAM_FILTER_ID_SYS_CALIB	using system calibration parameter
DMCAM_FILTER_ID_AMBIENT_LIGHT_CALIB	using ambient light calibration parameter,reserved
DMCAM_FILTER_ID_FLYNOISE	fly noise filter
DMCAM_FILTER_ID_TEMP_CALIB	Temperature calibration
DMCAM_FILTER_ID_MEDIAN	MEDIAN is replaced with depth filter, discarded

Detailed description of frame rate and sport mode¶

TC / TCM-E3 is a module specifically designed for high frame rate applications. The highest frame rate can reach 120 frames. The motion mode is to eliminate the effects of motion blur, their relationship is as follows:

Module series	Mode	fps ranges	Real fps	motion blur	Depth resolution	Depth map accuracy
TC-E2	Normal mode	1-30	fps	21ms	320x240	Normal precision(calculated by 4xDCS)
TC-E2	sport mode 0	1-30	fps	7ms	Vertical resolution halved ：320x120( output the interpolation 320x240)	Normal precision(calculated by 4xDCS)
TC-E2	Sport mode 1	1-30	fps	0ms	Vertical resolution halved ：320x120( output the interpolation 320x240)	Half accuracy (calculated by 2xDCS)
TC-E3	Normal mode	1-30	fps(fps<20) fpsx4(fps >=20)	21ms	320x240	Normal precision(calculated by 4xDCS)
TC-E3	Sport mode 0	1-30	fpsx2	7ms	Vertical resolution halved ：320x120( output the interpolation 320x240)	Normal precision(calculated by 4xDCS)
TC-E3	Sport mode 1	1-30	fpsx4	0ms	Vertical resolution halved ：320x120( output the interpolation 320x240)	Half accuracy (calculated by 2xDCS)