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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
Color sensor parameters must be configured using register
ColorStreamParams
. Note that the data format has to
be RGB565 and the resolution has to be 640x480 (VGA). The frame rate may be chosen between 15 or 30 fps.
Overlay mode is enabled by selecting mode 5 in register
ImageDataFormat
.
Note
If the camera continues to send distance and amplitude data, and you read the
ImageDataFormat
back as 0, then any of the color sensor configuration is not suitable for this
mode, or calibration data is missing (
HardwareConfig
and
HardwareConfigColor
values
inappropriate).
Also, if you change any setting while running in overlay mode, that makes the overlay calculation
impossible, the camera switches to image data format 0 by itself.
4.6.2
Configuration
There are certain configuration options for the overlay mode:
•
Invalidate point cloud points where color assignment is not possible: Register
OverlayConfig
A usual scene always contains points that e.g. have invalid depth data, are hidden from the color
se
nsor, etc. In the default setting, these points are marked “invalid” in the X coordinate array, i.e., with
value 0x1 (confer to chapter
Error! Reference source not found.
).
•
Ray-tracing threshold: Register
OverlayVectorLengthThreshold
To determine if an XYZ point is visible from the color sensor, the camera uses a ray-tracing algorithm.
This threshold in millimeters allows to adjust the strictness of the algorithm.
•
Default color values if assignment from color sensor is not possible: Registers
OverlayColorInvalidDepth
,
OverlayColorNotCalibrated
,
OverlayColorOutside
,
OverlayColorNoMapping
,
OverlayColorHidden
RGB565 color values that are filled into the color array if a color assignment is not possible for a point.
4.7
Camera Data Format
The camera provides up to four data channels via its data interface. The meaning of each data channel depends
on the selected data format. The factory default setting provides an array of distance data and an array of
amplitude data.
Alternatively, a 3D XYZ point cloud can be provided. Refer to chapter 4.4 for a description of the coordinate
system of the camera.
