Table of Contents
What is WDR technology?
WDR—Wide Dynamic Range Image (WDR), compared to regular images, can provide a wider detection range and more data detail. By utilizing the best detail images for each detection range, the final WDR image can achieve optimal imaging for both near and far scenes.
Principle of WDR
WDR imaging in iToF technology is an image processing technique aimed at extending the detection range of iToF cameras for both near and far distances. In WDR mode, near- distance and far-distance images are separately obtained and then fused through an algorithm to generate one frame. This image can contain both near and far objects in the scene. The composition of a WDR-generated image is shown in the diagram below:
WDR function demonstration
The scene includes both near-range targets (approximately 1.7m) and far-range targets (approximately 5.5m). As shown in the figure below:
The detection range of the normal mode is limited, and the image cannot simultaneously detect both near and far targets. The imaging effects with WDR ON and OFF are shown in the figure below:
Problems with WDR
Implement WDR function in ScepterGUITool
In ScepterGUITool, WDR can be simply enabled or disabled through the WDR switch, as shown below:
Click “Settings” button to set the WDR exposure time configuration page of “WDRConfig“, Set the exposure times for near range (Frame Index 0) and far range(Frame Index 1) respectively, as shown in the figure below:
Implement WDR function in SDK
Sample code:
BaseSDK/Windows/Samples/Base/NYX650/ToFExposureTimeOfWDRSetGet.
1. The enable of WDR API interface are:
//Set enables or disables the WDR Mode of the ToF sensor. Default enabled
ScStatus scSetWDRModeEnabled(ScDeviceHandle device, bool bEnabled);
//Get the bool value of whether the WDRMode of ToF sensor feature is enabled or disabled.
ScStatus scGetWDRModeEnabled(ScDeviceHandle device, bool* bEnabled);2. Get the count of frame in WDR mode API interface is:
//Get the count of frame in WDR mode
ScStatus scGetFrameCountOfWDRMode(ScDeviceHandle device, int32_t* pCount);3. The exposure time for frameIndex in WDR mode API interface are:
//Set the exposure time of ToF sensor with the frameIndex in WDR mode
ScStatus scSetExposureTimeOfWDR(ScDeviceHandle device, uint8_t frameIndex, int32_t exposureTime);
//Get the exposure time of ToF sensor with the frameIndex in WDR mode
ScStatus scGetExposureTimeOfWDR(ScDeviceHandle device, uint8_t frameIndex, int32_t* pExposureTime);4. The maximum exposure time of ToF sensor with the frameIndex in WDR mode API interface is:
//Get the maximum exposure time of ToF sensor with the frameIndex in WDR mode.
ScStatus scGetMaxExposureTimeOfWDR(ScDeviceHandle device, uint8_t frameIndex, int32_t* pMaxExposureTime);Note: Please refer to the product description to see if the product supports WDR functionality. HDR and WDR only support single functionality and cannot be effective simultaneously.
