© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
4.7.13
Distance, Amplitudes, and Confidences
In this mode, the distances, amplitudes, and confidences will be transferred in progressive mode, first the
distance array (channel 0), then the amplitude array (channel 1) and confidence array (channel 2). The stream starts
always with pixel #0.
The
distances
are coded in
millimeters
as
Uint16
. The
amplitudes
pixels are in
Uint16
format. The
confidence
pixels are in
Uint8
format.
The confidence is a measure of the confidence of the corresponding depth value. It is an exponential function of a
target amplitude to the current amplitude. A value of 255 (maximum value) means 100% confidence, whereas a
value of 0 (minimum value) means a confidence of 0%.
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
Confidence Pixel 0
(1 Byte)
Confidence Pixel 1
(1 Byte)
Confidence Pixel 2
(1 Byte)
Confidence Pixel 3
(1 Byte)
Confidence Pixel
703 (1 Byte)
Confidence Pixel
703 (1 Byte)
Confidence Pixel
100320 (1 Byte)
Confidence Pixel
100321 (1 Byte)
Confidence Pixel
100322 (1 Byte)
Confidence Pixel
100323 (1 Byte)
Confidence Pixel
101022 (1 Byte)
Confidence Pixel
101023 (1 Byte)
Figure 4-9: Data stream of Distances, Amplitudes, and Confidences
4.7.14
Distances, Amplitudes, Confidences, and Color
In this mode distances and amplitudes from the ToF sensor, confidence values, 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),
