© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
The resolution, format, and frame rate of the color sensor are set via register
ColorStreamParams
.
Channel 2 (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)
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 100673)
Highbyte of
Amplitude
(Pixel 100673)
Lowbyte of
Amplitude
(Pixel 101023)
Highbyte of
Amplitude
(Pixel 101023)
First Byte in Stream
Last Byte in Stream
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)
Figure 4-5: Data stream of Distance, Amplitude, RGB565 Color data
4.7.3
Distances and Color
In this mode distances from the ToF sensor and the color sensor image will be transferred in progressive mode,
first the distance array (channel 0), then the color sensor data (channel 1). The stream starts always with pixel #0.
The
distances
are coded in
millimeters
as
Uint16
, the
color
sensor pixels are coded in
RGB565
(raw) or
JPEG
compressed format.
The resolution, format, and frame rate of the color sensor are set via register
ColorStreamParams
.
