IFM O3D300 Instrucciones De Uso página 49

Offset Name
0x0018 PIXEL_FORMAT
0x001C TIME_STAMP
0x0020 FRAME_COUNT
0x0024 STATUS_CODE
0x0028 TIME_STAMP_SEC
0x002C TIME_STAMP_NSEC Time stamp in nanoseconds
0x0030 PIXEL_DATA
Available chunk types:
Constant
RADIAL_DISTANCE_
IMAGE
NORM_AMPLITUDE_
IMAGE
AMPLITUDE_IMAGE
GRAYSCALE_IMAGE
Description
Pixel format
Time stamp in microseconds (deprecated)
Frame counter
Errors of the device
Time stamp in seconds
The pixel data in the given type and dimension of the
image. Padded to 4-byte boundary.
Value Description
100 Each pixel of the distance matrix denotes the ToF distance
measured by the corresponding pixel or group of pixels of
the imager. The distance value is corrected by the camera's
calibration, excluding effects caused by multipath and multiple
objects contributions (e.g. "flying pixels"). Reference point is the
optical centre of the camera inside the camera housing.
Invalid PMD pixels (e.g. due to saturation) have a value of zero.
Data type: 16-bit unsigned integer (little endian)
Unit: millimetres
101 Each pixel of the normalized amplitude image denotes the raw
amplitude (see amplitude image below for further explanation),
normalized to exposure time. Furthermore, vignetting effects
are compensated, ie the darkening of pixels at the image border
is corrected. The visual impression of this grayscale image is
comparable to that of a common 2D camera.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 16-bit unsigned integer
103 Each pixel of the amplitude matrix denotes the amount of
modulated light (i.e. the light from the camera's active illumination)
which is reflected by the appropriate object. Higher values indicate
higher PMD signal strengths and thus a lower amount of noise on
the corresponding distance measurements. The amplitude value
is directly derived from the PMD phase measurements without
normalisation to exposure time. In multiple exposure mode,
the lack of normalisation may lead (depending on the chosen
exposure times) to inhomogeneous amplitude image impression, if
a certain pixel is taken from the short exposure time and some of
its neighbours are not.
Invalid PMD pixels (e.g. due to saturation) have an amplitude value
of 0.
Data type: 16-bit unsigned integer
104 Each pixel of the amplitude matrix denotes the amount of
modulated light which is reflected by the appropriate object (i.e. the
light from the camera's active illumination). Higher values indicate
higher PMD signal strengths and thus a lower amount of noise on
the corresponding distance measurements. The amplitude value
is directly derived from the PMD phase measurements without
normalisation to exposure time.
Sensor de visión 3D
Size [byte]
4
4
4
4
4
4
4
49
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