SICK Ranger E

Reference Manual Chapter 8
Ranger E/D
©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved 103
iCon API
When measuring in free-running mode and the object speed decreases, the distance
(number of scans away) to fetch data for registration increases, and if the scan speed is
zero the distance is infinite. Therefore there is a lower limit in free-running mode on the
minimum object speed to handle with correct registration, and this limit is lower the more
scans each buffer contains.
The first buffer that is registered will only have partial color information in the beginning of
the image. Subsequent images will normally have full color, since the color registration
filter can use the data from the previous buffer.
If an Enable signal is used for controlling the measurement, and the buffers contain
extended mark data, the color registration filter will normally detect when the measuring
have been stopped. In this case the next buffer that is registered will have partial data in
the beginning. If extended mark data is not available in the buffers, it is possible that color
data from the end of earlier measured objects gets mixed in with the beginning of the
current object.
Figure 8.5 – Color registration filter uses data from the previous buffer if available. If no
previous buffer is available, or the data in it is too old, the resulting image
will get partial color information at the beginning.
8.5.6 Color Generation Filter
The color generation filter is used for combining the red, green and blue color channels
into an RGB subcomponent, where the color value for each pixel in the image is stored as
a 24-bit value. The RGB subcomponent can then be further processed as 24-bit color data,
or saved as a BMP file. This filter is typically used after the registration filter. Note that the
input data to iconBuffer::saveImageRGB() must have the Subcomponent layout, this can
be obtained using an extractionFilter.
A minimum example may look like this:
// Include file for createRGB image filter
#include "filter\createRGB.h"
// Include file for extraction filter. Used then saving image to file.
#include "filter/extraction.h"
[…]
// Create and set up the color generation filter
icon::CreateRGBFilter rgbFilter("Color 1");
rgbFilter.setInput(*(input->getDataFormat()), input->getNoScans());
Captured (input)
Registered (output)
Color generate
d
Partial colo
r
Complete colo
r
First buffer
S
ubsequent buffer
Red Green Blue Red Green Blue