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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
Note
On protocol level the coordinate system may differ. Please contact BECOM Systems support for
more information.
For point cloud calculation, the camera requires proper calibration files (Lens calibration, Geometric Model
Parameters). These calibrations are identified by the
HardwareConfiguration
identifier (register). To check for
proper calibration, registers
CalibStatus
and
CalibStatus2
may be read.
4.6
Color Overlay
The Argos3D - P33x features a color sensor additionally to the ToF sensor. It is able to generate an RGB565 color
map that assigns each ToF pixel a corresponding color value from the color sensor. In order to accomplish the
mapping, the camera calculates the XYZ point cloud first, and then projects each of these points back to the color
sensor array to determine the correct color. Hidden areas are detected by means of ray-tracing, in which case no
color or a special color can be assigned (configurable).
Note
The Argos3D - P33x is not delivered fully calibrated for Overlay mode by default. If you wish to
upgrade a camera, please consult BECOM Systems Support for an offer.
4.6.1
Camera Settings
To select the overlay image data format, please consult chapter
. If you wish to upgrade a camera, please
consult BECOM Systems Support for an offer.
For overlay mode, the camera needs certain calibration data which is stored in non-volatile RAM. You can check
for these by means of status register bits:
•
Lens calibration: Register
CalibStatus
•
Geometric model parameters: Register
CalibStatus2
•
Overlay calibration: Register
CalibStatus2
The calibration data is identified by means of two registers:
•
HardwareConfiguration
: Identifier for ToF optical system (We often use the vertical opening angle as
identifier).
•
HardwareConfigColor
: Identifier for color sensor optical system (We often use the vertical opening
angle as identifier).
