Parameter setting and filter setting in python

Here we will introduce the setting and reading of parameters in python.

Parameter setting and filter setting

• Set one parameter，such as setting the frame format:

  wparams_fmt = {dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u()}
  wparams_fmt[dmcam.PARAM_FRAME_FORMAT].frame_format.format = 2
  if not dmcam.param_batch_set(dev, wparams_fmt):
          log.error(" frame format failed")
  

• Get one parameter，Eg.Read integration time:

  param_val = dmcam.param_batch_get(dev, [dmcam.PARAM_INTG_TIME])
  param_intg_us = param_val.intg.intg_us
  

Filter enable and disable

• Pixel calibration for depth data correction

  drnu_param = dmcam.filter_args_u()
  drnu_param.case_idx = 0  #  12MHz calibaration
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_PIXEL_CALIB, drnu_param, 0)      #enable pixel calibration
  
  dmcam.filter_disable(dev, dmcam.DMCAM_FILTER_ID_PIXEL_CALIB)    #disable pixel calibration
  

• Depth filtering for depth data filtering:

  filter_param = dmcam.filter_args_u()
  filter_param.median_ksize = 3
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_MEDIAN, filter_param, sys.getsizeof(filter_param))       #enable depth filter
  
  dmcam.filter_disable(dev, dmcam.DMCAM_FILTER_ID_MEDIAN) #disable depth filter
  

• Amplitude filtering for filtering poor quality points:

  amp_min_val = dmcam.filter_args_u()
  amp_min_val.min_amp = 30        #Set threshold for minimum amplitude filtering
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_AMP, amp_min_val, sys.getsizeof(amp_min_val))    #enable amplitude filter
  
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_AMP)             #disable amplitude filter
  

• Automatic integration time, open the module to automatically adjust the exposure time according to the measured object:

  intg_auto_arg = dmcam.filter_args_u()
  intg_auto_arg.sat_ration = 5    #Value of the auto exposure setting
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_AUTO_INTG, intg_auto_arg, sys.getsizeof(intg_auto_arg))  #Turn on automatic exposure
  
  dmcam.filter_disable(dev,DMCAM_FILTER_ID_AUTO_INTG)             #Turn off automatic exposure
  

• sport mode 0，set frame format to 2(Only for TC-E series):

  dmfilter = dmcam.filter_args_u()
  
  wparams_fmt = {dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u()}
  wparams_fmt[dmcam.PARAM_FRAME_FORMAT].frame_format.format = 2   #set frame format value 2
  dmcam.param_batch_set(dev, wparams_fmt)         #set frame format
  
  dmfilter.sport_mode = 0         #set sport mode value to 0
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_SPORT_MODE, dmfilter, 0)         #open sport mode 0
  
  dmcam.filter_disable(dev, dmcam.DMCAM_FILTER_ID_SPORT_MODE)             #close sport mode 0
  

• sport mode 1，set frame format to 2(Only for TC-E series):

  dmfilter = dmcam.filter_args_u()
  
  wparams_fmt = {dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u()}
  wparams_fmt[dmcam.PARAM_FRAME_FORMAT].frame_format.format = 4 #set frame format value to 4
  dmcam.param_batch_set(dev, wparams_fmt)  #set frame format
  
  dmfilter.sport_mode = 1         #set sport mode value 1
  dmcam.filter_enable(dev, dmcam.DMCAM_FILTER_ID_SPORT_MODE, dmfilter, 1)         #open sport mode 1
  
  #when close sport mode 1，please switch frame format to 2
  wparams_fmt = {dmcam.PARAM_FRAME_FORMAT: dmcam.param_val_u()}
  wparams_fmt[dmcam.PARAM_FRAME_FORMAT].frame_format.format = 2 #set frame format to 2
  dmcam.param_batch_set(dev, wparams_fmt)  #set frame format
  
  dmcam.filter_disable(dev, dmcam.DMCAM_FILTER_ID_SPORT_MODE)             #close sport mode 1