© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
High byte
Low byte
R4 R3 R2 R1 R0 G5 G4 G3 G2 G1 G0
B4 B3 B2 B1 B0
Table 4-1: RGB565 format
Which image format will be transferred can be selected by the register
ImageDataFormat
. The following
sections describe each of the supported formats in detail. Only the data section which contains the image data of
the transferred frame will be described. For information about the packet format and meta-data please refer to
chapter 3.2.
4.7.1
Distances and Amplitudes
In this mode the distances and amplitudes will be transferred in progressive mode, first the distance array
(channel 0), then the amplitude array (channel 1). The stream starts always with pixel #0.
The
distances
are coded in
millimeters
as
Uint16
, the
amplitudes
also as
Uint16
.
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)
Lowbyte of
Amplitude (Pixel 0)
Highbyte of
Amplitude (Pixel 0)
Lowbyte of
Amplitude (Pixel 1)
Highbyte of
Amplitude (Pixel 1)
Lowbyte of
Amplitude
(Pixel
351
)
Highbyte of
Amplitude
(Pixel
351
)
Lowbyte of
Amplitude
(Pixel 100672)
Highbyte of
Amplitude
(Pixel 100672)
Lowbyte of
Amplitude
(Pixel 19041)
Highbyte of
Amplitude
(Pixel 19041)
Lowbyte of
Amplitude
(Pixel 101023)
Highbyte of
Amplitude
(Pixel 101023)
First Byte in Stream
Last Byte in Stream
Figure 4-4: Data stream of Distance and Amplitude data
4.7.2
Distances, Amplitudes and Color
In this mode distances and amplitudes from the ToF sensor, as well as the color sensor image will be transferred in
progressive mode, first the distance array (channel 0), then the amplitude array (channel 1), then the color sensor
data (channel 2). The stream starts always with pixel #0.
The
distances
are coded in
millimeters
as
Uint16
, the
amplitudes
also as
Uint16
. The
color
sensor pixels are
coded in
RGB565
(raw) or
JPEG
compressed format.
