Receiving Images; Image Data - IFM O3D300 Instrucciones De Uso

Sensor de visión 3D

13.1.2 Receiving Images

For receiving the image data a TCP/IP socket communication is established. The default port number is
50010. The port number may differ based on the configuration. After opening the socket communication,
the O3D3XX device will automatically (if the device is in free run mode) send the data through this socket
to the TCP/IP client (PC).
PCIC output per frame. The following data is submitted in this sequence:
Component
Ticket and length information
Ticket
Start sequence
Normalised amplitude image
Output format: 16-bit unsigned integer
Distance image
Output format: 16-bit unsigned integer.
Unit: mm
X image
Output format: 16-bit signed integer.
Unit: mm
Y image
Output format: 16-bit signed integer.
Unit: mm
Z image
Output format: 16-bit signed integer.
Unit: mm
Confidence image
Output format: 8-bit unsigned integer
Diagnostic data
Stop sequence
Ticket signature

13.1.3 Image data

For every image there will be a separate chunk. The chunk is part of the response frame data of the
process interface.
The header of each chunk contains different kinds of information. This information is separated into bytes.
The information contains e.g. the kind of image which will be in the "PIXEL_DATA" and the size of the
chunk.
Offset Name
0x0000 CHUNK_TYPE
0x0004 CHUNK_SIZE
0x0008 HEADER_SIZE
0x000C HEADER_VERSION
0x0010 IMAGE_WIDTH
0x0014 IMAGE_HEIGTH
48
Content
(→ 13.2.15)
"0000"
String "star" (4 bytes)
1 image
1 image
1 image
1 image
1 image
1 image
String "stop" (4 bytes)
<CR><LF>
Description
Defines the type of the chunk. For each distinct chunk
an own type is defined.
Size of the whole image chunk in bytes. After this count
of bytes the next chunk starts.
Number of bytes starting from 0x0000 until
PIXEL_DATA.
Version number of the header
Image width in pixel
Image height in pixel
Size [byte]
4
4
4
4
4
4