© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
Channel 1 (which carries the color data) may have zero length, if no color data is available for the current frame. In
this case, fields
ColorSensorWidth
,
ColorSensorHeight
, and
ColorSensorLength
of the frame header are set to zero
(refer to section
Error! Reference source not found.
).
In the case the color data is transferred in JPEG format, frame header field
ColorSensorLength
contains the length
of the JPEG-compressed image in bytes.
Lowbyte of
Distance (Pixel 0)
Highbyte of
Distance (Pixel 0)
Lowbyte of
Distance (Pixel 1)
Highbyte of
Distance (Pixel 1)
Lowbyte of
Distance
(Pixel 351)
Highbyte of
Distance
(Pixel 351)
Lowbyte of
Distance
(Pixel 100672)
Highbyte of
Distance
(Pixel 100672)
Lowbyte of
Distance
(Pixel 100673)
Highbyte of
Distance
(Pixel 100673)
Lowbyte of
Distance
(Pixel 101023)
Highbyte of
Distance
(Pixel 101023)
RGB565 Low Byte
(Pixel 0)
RGB565 High Byte
(Pixel 0)
RGB565 Low Byte
(Pixel 1)
RGB565 Low Byte
(Pixel 1)
RGB565 Low Byte
(Last Pixel first
row)
RGB565 High Byte
(Last Pixel first
row)
RGB565 Low Byte
(1st pixel last row)
RGB565 High Byte
(1st pixel last row)
RGB565 Low Byte
(2nd pixel last row)
RGB565 High Byte
(2nd pixel last row)
RGB565 Low Byte
(Last Pixel)
RGB565 High Byte
(Last Pixel)
First Byte in Stream
Last Byte in Stream
Figure 4-6: Data stream of distance and RGB565 data
4.7.4
XYZ Point Cloud
In this mode the XYZ point cloud will be transferred in progressive mode, first the X coordinate array (channel 0)
then the Y (channel 1) and Z (channel 2) coordinate array. The stream starts always with pixel #0.
The
coordinates
are coded in
millimeters
as
Int16.
