© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
Note
Data formats with XYZ point clouds cannot be enabled if there is no proper lens calibration data
stored on the camera. Please use register
HardwareConfig
to configure the ToF lens calibration
hardware identifier and register
CalibStatus
to read the status of lens calibration availability.
Color data from the CMOS image sensor can also be selected.
A channel can carry one of the following data types:
•
Distance data from the ToF sensor, in millimeters, as 16-bit unsigned (Uint16) values. Resolution is always
352x287 pixels.
•
Amplitude data from the ToF sensor, as 16-bit unsigned (Uint16) values. Resolution is always 352x287
pixels.
•
Confidence data, as 8-bit unsigned values. Resolution is always 352x287 pixels.
•
Z coordinate values, in millimeters, as 16-bit signed (Int16) values. No negative values allowed. Resolution
is always 352x287.
•
X coordinate values, in millimeters, as 16-bit signed (Int16) values. Resolution is always 352x287.
•
Y coordinate values: Same as X.
•
Raw depth data (without scaling, corrections and filters), as 16-bit unsigned (Uint16) values. Resolution is
always 352x287 pixels.
•
Raw phase data (0°, 90°, 180°, 270°), as 16-bit unsigned (Uint16) values. Resolution is always 352x287 pixels.
•
Color sensor data in RGB565 format (16 bits per pixel). The resolution is set via register
ColorStreamParams
. The format is depicted in Table 4-1. Note that from one color value, B0, G0, and R0
are the least significant bits. B4, G5, and R4 are the most significant bits.
•
Color sensor data in JPEG format. The resolution is set via register
ColorStreamParams
, as is the selection
of JPEG instead of RGB565 format.
•
Overlay color data: Each point of the XYZ point cloud, measured by the ToF sensor, gets assigned a color
value from the color sensor by means of back-projection and ray-tracing to the color sensor. The color
format is always RGB565.
