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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
then the confidence array (channel 2), then the color sensor data (channel 3). The stream starts always with pixel
#0.
The
distances
are coded in
millimeters
as
Uint16
, the
amplitudes
also as
Uint16
. The confidence values are in
Uint8
format. 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
.
Channel 3 (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.
4.7.15
Color
This data format is only used for the UDP Color Sensor Stream (see chapter 4.15.1 for more information). This data
format cannot be set via register
ImageDataFormat
. When this data format is transferred, field
ImageFormat
of
the frame header (
→
chapter
Error! Reference source not found.
) is set to value 22 (0x16).
In this mode the color sensor image is transferred in channel #0. The
color
sensor pixels are coded in
RGB565
(raw) or
JPEG
compressed format. 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.
The resolution, format, and frame rate of the color sensor are configured via register
ColorStreamParams
.
4.8
ToF Modulation Frequency
The modulation frequency of the illumination is set to 20 MHz per default. Other modulation frequencies can be
set using registers
ModulationFrequency
,
ModFreqSeq1
,
ModFreqSeq2
,
ModFreqSeq3
. Be aware that this also
changes the ambiguity range of the camera. On writing these registers, if inexact values are supplied, the camera
searches for the next possible modulation frequency automatically.
The following modulation frequencies can be selected:
Frequency Unambiguity Range
5.004 MHz ~30m
7.5 MHz
~20m
10.007 MHz ~15m
15 MHz
~10m
20.013 MHz ~7,5m
25.016 MHz ~6m
