IFM Electronic O3D300 Bedienungsanleitung Seite 32

3D Sensor
Offset Name
0x0014 IMAGE_HEIGTH
0x0018 PIXEL_FORMAT
0x001C TIME_STAMP
0x0020 FRAME_COUNT
0x0024 PIXEL_DATA
Available chunk types:
Constant
USERDATA
RADIAL_DISTANCE_
IMAGE
NORM_AMPLITUDE_
IMAGE
AMPLITUDE_IMAGE
CARTESIAN_X_
COMPONENT
32
Description
Image height in pixel
Pixel format
Time stamp in microseconds
Frame counter
The pixel data in the given type and dimension of the
image. Padded to 4-byte boundary.
Value Description
0 Undefined user data with arbitrary content
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 device calibration,
excluding effects caused by multipath and multiple objects
contributions (e.g. "flying pixels"). Reference point is the optical
centre of the device inside the device 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 device 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
200 The X matrix denotes the X component of the Cartesian coordinate
of a PMD 3D measurement. The origin of the device coordinate
system is in the middle of the lens' front glass, if the extrinsic
parameters are all set to 0.
Data type: 16-bit signed integer
Unit: millimetres
Size [byte]
4
4
4
4
4